//辨識輪廓
private bool analysisContoursRect(int index, List <MatOfPoint> contours, Mat result, List <MatchObject> matchObject)
{
OpenCVForUnity.Rect _testDepthRect = Imgproc.boundingRect(contours[index]);
float minAreaSize = _minDepthObjectSizePer * _drawBlock.MatchHeight * _drawBlock.MatchWidth;
if (_testDepthRect.area() > minAreaSize)
{
//宣告放置點資料
MatOfInt hullInt = new MatOfInt();
List <Point> hullPointList = new List <Point>();
MatOfPoint hullPointMat = new MatOfPoint();
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
MatOfInt4 defects = new MatOfInt4();
//篩選點資料
MatOfPoint2f Temp2f = new MatOfPoint2f();
//Convert contours(i) from MatOfPoint to MatOfPoint2f
contours[index].convertTo(Temp2f, CvType.CV_32FC2);
//Processing on mMOP2f1 which is in type MatOfPoint2f
Imgproc.approxPolyDP(Temp2f, Temp2f, 30, true);
//Convert back to MatOfPoint and put the new values back into the contours list
Temp2f.convertTo(contours[index], CvType.CV_32S);
//计算轮廓围绕的凸形壳
Imgproc.convexHull(contours[index], hullInt);
List <Point> pointMatList = contours[index].toList();
List <int> hullIntList = hullInt.toList();
for (int j = 0; j < hullInt.toList().Count; j++)
{
hullPointList.Add(pointMatList[hullIntList[j]]);
hullPointMat.fromList(hullPointList);
hullPoints.Add(hullPointMat);
}
if (hullInt.toList().Count == 4)
{
if (!setMatchObject(index, pointMatList, contours, hullPoints, result, matchObject))
{
//Debug.Log("setMatchObject fail");
}
}
//清空記憶體
defects.Dispose();
hullPointList.Clear();
hullPointMat.Dispose();
hullInt.Dispose();
hullPoints.Clear();
return(true);
}
return(false);
}
//利用深度的輪廓做RGB的顏色判斷
public Mat getContours(Mat srcColorMat, Mat srcDepthMat)
{
Mat ColorMat = new Mat();
Mat DepthMat = new Mat();
Mat HsvMat = new Mat();
srcColorMat.copyTo(ColorMat);
srcDepthMat.copyTo(DepthMat);
Imgproc.cvtColor(ColorMat, HsvMat, Imgproc.COLOR_BGR2HSV);
List <ColorObject> colorObjects = new List <ColorObject>();
Mat resultMat = new Mat(DepthMat.height(), DepthMat.width(), CvType.CV_8UC1);
Mat hierarchy = new Mat();
List <Point> ConsistP = new List <Point>();
List <MatOfPoint> contours = new List <MatOfPoint>();
List <List <Point> > trianglePointList = new List <List <Point> >();
Imgproc.findContours(DepthMat, contours, hierarchy, Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
int numObjects = contours.Count;
List <Scalar> clickRGB = new List <Scalar>();
List <Scalar> clickHSV = new List <Scalar>();
List <int> HullCountList = new List <int>();
for (int i = 0; i < numObjects; i++)
{
Imgproc.drawContours(resultMat, contours, i, new Scalar(255), 1);
}
double[] GetRGB = new double[10];
float minAreaSize = _minDepthObjectSizePer * _drawBlock.MatchHeight * _drawBlock.MatchWidth;
if (numObjects > 0)
{
for (int index = 0; index < numObjects; index++)
{
OpenCVForUnity.Rect R0 = Imgproc.boundingRect(contours[index]);
if (R0.area() > minAreaSize)
{
//宣告放置點資料
MatOfInt hullInt = new MatOfInt();
List <Point> hullPointList = new List <Point>();
MatOfPoint hullPointMat = new MatOfPoint();
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
MatOfInt4 defects = new MatOfInt4();
//篩選點資料
MatOfPoint2f Temp2f = new MatOfPoint2f();
//Convert contours(i) from MatOfPoint to MatOfPoint2f
contours[index].convertTo(Temp2f, CvType.CV_32FC2);
//Processing on mMOP2f1 which is in type MatOfPoint2f
Imgproc.approxPolyDP(Temp2f, Temp2f, 30, true);
//Convert back to MatOfPoint and put the new values back into the contours list
Temp2f.convertTo(contours[index], CvType.CV_32S);
//计算轮廓围绕的凸形壳
Imgproc.convexHull(contours[index], hullInt);
List <Point> pointMatList = contours[index].toList();
List <int> hullIntList = hullInt.toList();
for (int j = 0; j < hullInt.toList().Count; j++)
{
hullPointList.Add(pointMatList[hullIntList[j]]);
hullPointMat.fromList(hullPointList);
hullPoints.Add(hullPointMat);
}
ConsistP.Add(new Point(R0.x, R0.y));
ConsistP.Add(new Point(R0.x + R0.width, R0.y + R0.height));
ConsistP.Add(new Point(R0.x + R0.width, R0.y));
ConsistP.Add(new Point(R0.x, R0.y + R0.height));
clickRGB.Add(clickcolor(ColorMat, R0));
clickHSV.Add(clickcolor(HsvMat, R0));
HullCountList.Add(hullIntList.Count);
trianglePointList.Add(pointMatList);
//清空記憶體
defects.Dispose();
hullPointList.Clear();
hullPointMat.Dispose();
hullInt.Dispose();
hullPoints.Clear();
//Debug.Log("ID = " + index + " Color = " + clickcolor(ColorMat, R0));
}
}
//使用顏色找尋物體
_matchColorObjectList = setColorMatchObject(ConsistP, trianglePointList, clickRGB, clickHSV, resultMat, HullCountList);
}
return(resultMat);
}
private void FindDefects(Mat maskImage, ref int cx, ref int cy, int min_defects_count, int max_defects_count)
{
int erosion_size = 1;
Mat element = Imgproc.getStructuringElement(
Imgproc.MORPH_ELLIPSE,
new Size(2 * erosion_size + 1, 2 * erosion_size + 1),
new Point(erosion_size, erosion_size));
// dilate and erode
Imgproc.dilate(maskImage, maskImage, element);
Imgproc.erode(maskImage, maskImage, element);
element.Dispose();
//Find Contours in image
List <MatOfPoint> contours = new List <MatOfPoint>();
Imgproc.findContours(maskImage, contours, new MatOfPoint(), Imgproc.RETR_EXTERNAL, Imgproc.CHAIN_APPROX_SIMPLE);
//Loop to find the biggest contour; If no contour is found index=-1
int index = -1;
double area = 2000;
for (int i = 0; i < contours.Count; i++)
{
var tempsize = Imgproc.contourArea(contours[i]);
if (tempsize > area)
{
area = tempsize;
index = i;
}
}
if (index == -1)
{
return;
}
else
{
var points = new MatOfPoint(contours[index].toArray());
var hull = new MatOfInt();
Imgproc.convexHull(points, hull, false);
var defects = new MatOfInt4();
Imgproc.convexityDefects(points, hull, defects);
var start_points = new MatOfPoint2f();
var far_points = new MatOfPoint2f();
for (int i = 0; i < defects.size().height; i++)
{
int ind_start = (int)defects.get(i, 0)[0];
int ind_end = (int)defects.get(i, 0)[1];
int ind_far = (int)defects.get(i, 0)[2];
double depth = defects.get(i, 0)[3] / 256;
double a = Core.norm(contours[index].row(ind_start) - contours[index].row(ind_end));
double b = Core.norm(contours[index].row(ind_far) - contours[index].row(ind_start));
double c = Core.norm(contours[index].row(ind_far) - contours[index].row(ind_end));
double angle = Math.Acos((b * b + c * c - a * a) / (2 * b * c)) * 180.0 / Math.PI;
double threshFingerLength = ((double)maskImage.height()) / 8.0;
double threshAngle = 80;
if (angle < threshAngle && depth > threshFingerLength)
{
//start point
var aa = contours[index].row(ind_start);
start_points.push_back(contours[index].row(ind_start));
far_points.push_back(contours[index].row(ind_far));
}
}
points.Dispose();
hull.Dispose();
defects.Dispose();
// when no finger found
if (far_points.size().height < min_defects_count || far_points.size().height > max_defects_count)
{
return;
}
var cnts = new List <MatOfPoint>();
cnts.Add(contours[index]);
Mat mm = new Mat();
Imgproc.cvtColor(maskImage, mm, Imgproc.COLOR_GRAY2BGR);
Imgproc.drawContours(mm, cnts, 0, new Scalar(0, 0, 255));
// OpenCVForUnity.ImgcodecsModule.Imgcodecs.imwrite("D:/tempImg.jpg", mm)
//var rotatedRect = Imgproc.minAreaRect(far_points);
var boundingRect = Imgproc.boundingRect(far_points);
cx = (int)(boundingRect.x + boundingRect.width / 2);
cy = (int)(boundingRect.y + boundingRect.height / 2);
}
}
