/// <summary>
/// Gets the color of the approximate scalar from.
/// </summary>
/// <param name="handColor">Hand color.</param>
/// <param name="mLowerBound">M lower bound.</param>
/// <param name="mUpperBound">M upper bound.</param>
private static void _getApproximateScalarFromColor(Color handColor, Scalar mLowerBound, Scalar mUpperBound)
{
//色の範囲を指定する
Scalar mColorRadius = new Scalar(25, 50, 50, 0);
Scalar hsvColor = HGColorSpuiter.ColorToScalar(handColor);
double minH = (hsvColor.val [0] >= mColorRadius.val [0]) ? hsvColor.val [0] - mColorRadius.val [0] : 0;
double maxH = (hsvColor.val [0] + mColorRadius.val [0] <= 255) ? hsvColor.val [0] + mColorRadius.val [0] : 255;
mLowerBound.val [0] = minH;
mUpperBound.val [0] = maxH;
mLowerBound.val [1] = hsvColor.val [1] - mColorRadius.val [1];
mUpperBound.val [1] = hsvColor.val [1] + mColorRadius.val [1];
mLowerBound.val [2] = hsvColor.val [2] - mColorRadius.val [2];
mUpperBound.val [2] = hsvColor.val [2] + mColorRadius.val [2];
mLowerBound.val [3] = 0;
mUpperBound.val [3] = 255;
}
//手を検出して画像に描画する
private static void _handPoseEstimationProcess(Mat rgbaMat, Color handColor)
{
Imgproc.GaussianBlur(rgbaMat, rgbaMat, new OpenCVForUnity.Size(3, 3), 1, 1);
//検出器に色を設定
detector.setHsvColor(HGColorSpuiter.ColorToScalar(handColor));
List <MatOfPoint> contours = detector.getContours();
detector.process(rgbaMat);
if (contours.Count <= 0)
{
return;
}
//手の角度に傾いた外接矩形を作成
RotatedRect rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[0].toArray()));
double boundWidth = rect.size.width;
double boundHeight = rect.size.height;
int boundPos = 0;
for (int i = 1; i < contours.Count; i++)
{
rect = Imgproc.minAreaRect(new MatOfPoint2f(contours[i].toArray()));
if (rect.size.width * rect.size.height > boundWidth * boundHeight)
{
boundWidth = rect.size.width;
boundHeight = rect.size.height;
boundPos = i;
}
}
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contours[boundPos].toArray()));
//手首までの範囲を描画
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), HGColorSpuiter.ColorToScalar(WristRangeColor), 2, 8, 0);
double a = boundRect.br().y - boundRect.tl().y;
a = a * 0.7;
a = boundRect.tl().y + a;
//手のひらの範囲を描画
Imgproc.rectangle(rgbaMat, boundRect.tl(), new Point(boundRect.br().x, a), HGColorSpuiter.ColorToScalar(PalmsRangeColor), 2, 8, 0);
//折れ線カーブまたはポリゴンを，互いの距離が指定された精度以下になるように，より少ない頂点数のカーブやポリゴンで近似します
MatOfPoint2f pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contours[boundPos].toArray()), pointMat, 3, true);
contours[boundPos] = new MatOfPoint(pointMat.toArray());
//点とポリゴンの最短距離を計算
MatOfInt hull = new MatOfInt();
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexHull(new MatOfPoint(contours[boundPos].toArray()), hull);
if (hull.toArray().Length < 3)
{
return;
}
Imgproc.convexityDefects(new MatOfPoint(contours[boundPos].toArray()), hull, convexDefect);
//手の範囲を取得
List <MatOfPoint> hullPoints = new List <MatOfPoint>();
List <Point> listPo = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
listPo.Add(contours[boundPos].toList()[hull.toList()[j]]);
}
MatOfPoint e = new MatOfPoint();
e.fromList(listPo);
hullPoints.Add(e);
//手の範囲を描画
Imgproc.drawContours(rgbaMat, hullPoints, -1, HGColorSpuiter.ColorToScalar(HandRangeColor), 3);
//指と認識した場所を取得
List <MatOfPoint> defectPoints = new List <MatOfPoint>();
List <Point> listPoDefect = new List <Point>();
for (int j = 0; j < convexDefect.toList().Count; j = j + 4)
{
Point farPoint = contours[boundPos].toList()[convexDefect.toList()[j + 2]];
int depth = convexDefect.toList()[j + 3];
if (depth > depthThreashold && farPoint.y < a)
{
listPoDefect.Add(contours[boundPos].toList()[convexDefect.toList()[j + 2]]);
}
}
MatOfPoint e2 = new MatOfPoint();
e2.fromList(listPo);
defectPoints.Add(e2);
//検出した指の本数を更新
numberOfFingers = listPoDefect.Count;
if (numberOfFingers > 5)
{
numberOfFingers = 5;
}
//指の間に点を描画
foreach (Point p in listPoDefect)
{
Imgproc.circle(rgbaMat, p, 6, HGColorSpuiter.ColorToScalar(BetweenFingersColor), -1);
}
}
/*=============================================*
* 輪郭ごとの頂点から手を判別するまで
*=============================================*/
/// <summary>
/// Contours to hand gesture.
/// </summary>
/// <param name="rgbaMat">Rgba mat.</param>
/// <param name="contour">Contour.</param>
private static void _contourToHandGesture(Mat rgbaMat, MatOfPoint contour)
{
try
{
//頂点を調査する準備をする
_pointOfVertices(rgbaMat, contour);
//基準輪郭のサイズの取得と描画（長方形）
OpenCVForUnity.Rect boundRect = Imgproc.boundingRect(new MatOfPoint(contour.toArray()));
Imgproc.rectangle(rgbaMat, boundRect.tl(), boundRect.br(), HGColorSpuiter.ColorToScalar(ContourRangeColor), 2, 8, 0);
/*=============================================*
* 腕まで含んだ手の大きさを取得する
**=============================================*/
//腕まで含んだ手の大きさを識別する
MatOfInt hull = new MatOfInt();
Imgproc.convexHull(new MatOfPoint(contour.toArray()), hull);
//腕まで含んだ手の範囲を取得
List <Point> armPointList = new List <Point>();
for (int j = 0; j < hull.toList().Count; j++)
{
Point armPoint = contour.toList()[hull.toList()[j]];
bool addFlag = true;
foreach (Point point in armPointList.ToArray())
{
//輪郭の1/10より近い頂点は誤差としてまとめる
double distance = Mathf.Sqrt((float)((armPoint.x - point.x) * (armPoint.x - point.x) + (armPoint.y - point.y) * (armPoint.y - point.y)));
if (distance <= Mathf.Min((float)boundRect.width, (float)boundRect.height) / 10)
{
addFlag = false;
break;
}
}
if (addFlag)
{
armPointList.Add(armPoint);
}
}
MatOfPoint armMatOfPoint = new MatOfPoint();
armMatOfPoint.fromList(armPointList);
List <MatOfPoint> armPoints = new List <MatOfPoint>();
armPoints.Add(armMatOfPoint);
//腕まで含んだ手の範囲を描画
Imgproc.drawContours(rgbaMat, armPoints, -1, HGColorSpuiter.ColorToScalar(ArmRangeColor), 3);
//腕まで含んだ手が三角形の場合はそれ以上の識別が難しい
if (hull.toArray().Length < 3)
{
return;
}
/*=============================================*
* 掌の大きさを取得する
**=============================================*/
//凸面の頂点から凹面の点のみを取得し、掌の範囲を取得する
MatOfInt4 convexDefect = new MatOfInt4();
Imgproc.convexityDefects(new MatOfPoint(contour.toArray()), hull, convexDefect);
//凹面の点をフィルタリングして取得
List <Point> palmPointList = new List <Point>();
for (int j = 0; j < convexDefect.toList().Count; j = j + 4)
{
Point farPoint = contour.toList()[convexDefect.toList()[j + 2]];
int depth = convexDefect.toList()[j + 3];
if (depth > depthThreashold && farPoint.y < boundRect.br().y - boundRect.tl().y)
{
palmPointList.Add(contour.toList()[convexDefect.toList()[j + 2]]);
}
}
MatOfPoint palmMatOfPoint = new MatOfPoint();
palmMatOfPoint.fromList(palmPointList);
List <MatOfPoint> palmPoints = new List <MatOfPoint>();
palmPoints.Add(palmMatOfPoint);
//掌の範囲を描画
Imgproc.drawContours(rgbaMat, palmPoints, -1, HGColorSpuiter.ColorToScalar(PalmRangeColor), 3);
/*=============================================*
* 掌+指先の大きさを取得する
**=============================================*/
//掌の位置を元に手首を除いた範囲を取得する
List <Point> handPointList = new List <Point>();
handPointList.AddRange(armPointList.ToArray());
handPointList.Reverse();
handPointList.RemoveAt(0);
handPointList.Insert(0, palmPointList.ToArray()[0]);
handPointList.RemoveAt(handPointList.Count - 1);
handPointList.Insert(handPointList.Count, palmPointList.ToArray()[palmPointList.Count - 1]);
MatOfPoint handMatOfPoint = new MatOfPoint();
handMatOfPoint.fromList(handPointList);
List <MatOfPoint> handPoints = new List <MatOfPoint>();
handPoints.Add(handMatOfPoint);
Imgproc.drawContours(rgbaMat, handPoints, -1, HGColorSpuiter.ColorToScalar(HandRangeColor), 3);
/*=============================================*
* 指先の位置を取得する
**=============================================*/
//掌の各頂点の中心を求める
List <Point> palmCenterPoints = new List <Point>();
for (int i = 0; i < palmPointList.Count; i++)
{
Point palmPoint = palmPointList.ToArray()[i];
Point palmPointNext = new Point();
if (i + 1 < palmPointList.Count)
{
palmPointNext = palmPointList.ToArray()[i + 1];
}
else
{
palmPointNext = palmPointList.ToArray()[0];
}
Point palmCenterPoint = new Point((palmPoint.x + palmPointNext.x) / 2, (palmPoint.y + palmPointNext.y) / 2);
palmCenterPoints.Add(palmCenterPoint);
}
//掌の頂点から最も近い手の頂点を求める
for (int i = 0; i < palmCenterPoints.Count && i + 1 < handPointList.Count && i < 5; i++)
{
Point palmPoint = palmCenterPoints.ToArray()[i];
List <Point> fingerList = new List <Point>();
fingerList.Add(palmPoint);
fingerList.Add(handPointList.ToArray()[i + 1]);
MatOfPoint fingerPoint = new MatOfPoint();
fingerPoint.fromList(fingerList);
List <MatOfPoint> fingerPoints = new List <MatOfPoint>();
fingerPoints.Add(fingerPoint);
Imgproc.drawContours(rgbaMat, fingerPoints, -1, HGColorSpuiter.ColorToScalar(FingerRangeColor), 3);
}
// Imgproc.putText(rgbaMat, "", new Point(2, rgbaMat.rows()-30), Core.FONT_HERSHEY_SIMPLEX, 1.0, HGColorSpuiter.ColorToScalar(Color.black), 2, Imgproc.LINE_AA, false);
}
catch (System.Exception e)
{
Debug.Log(e.Message);
}
}
