private void UpdateConvexityDefection(
MatOfPoint contour, MatOfInt hullIndices, double defectMinY, RecordHandDetectResult resultSetter
)
{
var contourArray = contour.toArray();
var convexDefect = new MatOfInt4();
Imgproc.convexityDefects(contour, hullIndices, convexDefect);
resultSetter.ConvexDefectVectors.Clear();
int convexDefectCount = convexDefect.rows();
if (convexDefectCount > 0)
{
for (int i = 0; i < convexDefectCount; i++)
{
convexDefect.get(i, 0, _convexityDefectSetValues);
Point farPoint = contourArray[_convexityDefectSetValues[2]];
int depth = _convexityDefectSetValues[3];
if (depth > DefectThreasholdValue && farPoint.y < defectMinY)
{
var nearPoint1 = contourArray[_convexityDefectSetValues[0]];
var nearPoint2 = contourArray[_convexityDefectSetValues[1]];
resultSetter.ConvexDefectVectors.Add(new Vector2(
(float)(nearPoint1.x * 0.5f + nearPoint2.x * 0.5 - farPoint.x),
(float)(nearPoint1.y * 0.5f + nearPoint2.y * 0.5 - farPoint.y)
));
}
}
}
//ここまでやりきると全データが有効に更新されている。
resultSetter.HasValidHandArea = true;
}
private void EstimateHand(Mat mat, List <MatOfPoint> contours, RecordHandDetectResult resultSetter)
{
//画像処理としてはcontourがあったが、今調べてる側については
if (contours.Count == 0)
{
resultSetter.HasValidHandArea = false;
return;
}
var contour = SelectLargestContour(contours);
var boundRect = Imgproc.boundingRect(contour);
//画像の下側で手首の凹み部分を検出することがあるのを、指の凹みと誤認識しないためのガードです。
double defectMinY = boundRect.y + boundRect.height * 0.7;
var pointMat = new MatOfPoint2f();
Imgproc.approxPolyDP(new MatOfPoint2f(contour.toArray()), pointMat, 3, true);
contour = new MatOfPoint(pointMat.toArray());
var handArea = Imgproc.minAreaRect(pointMat);
var handAreaCenter = handArea.center;
var handAreaSize = handArea.size;
//方向固定のBoundを使うとこう。
resultSetter.HandAreaCenter = new Vector2(boundRect.x + boundRect.width / 2, boundRect.y + boundRect.height / 2);
resultSetter.HandAreaSize = new Vector2(boundRect.width, boundRect.height);
resultSetter.HandAreaRotation = (float)handArea.angle;
//OBBを使うとこうなるが、これだけだとangleが45度超えてるときの挙動が直感に反する事があるので要注意
// resultSetter.HandAreaCenter = new Vector2((float)handAreaCenter.x, (float)handAreaCenter.y);
// resultSetter.HandAreaSize = new Vector2((float)handAreaSize.width, (float)handAreaSize.height);
// resultSetter.HandAreaRotation = (float)handArea.angle;
Imgproc.convexHull(contour, _hullIndices);
var hullIndicesArray = _hullIndices.toArray();
//通常ありえないが、凸包がちゃんと作れてないケース
if (hullIndicesArray.Length < 3)
{
resultSetter.HasValidHandArea = false;
return;
}
UpdateConvexityDefection(contour, _hullIndices, defectMinY, resultSetter);
}
