int openHand(PointCloud handPcl) {
IplImage *imageHandBw = cvCreateImage(cvSize(640,480), 8, 1);
binaryImage(handPcl, imageHandBw);
cvDilate(imageHandBw, imageHandBw, NULL, 5);
cvErode(imageHandBw, imageHandBw, NULL, 3);
int perimeter = 0, area = 0;
int i;
for (i=0; i<FREENECT_FRAME_PIX; i++) {
if(((unsigned char*)(imageHandBw->imageData))[i]) {
area++;
if (((unsigned char*)(imageHandBw->imageData))[i+1] == 0 ||
((unsigned char*)(imageHandBw->imageData))[i-1] == 0 ||
((unsigned char*)(imageHandBw->imageData))[i+FREENECT_FRAME_W] == 0 ||
((unsigned char*)(imageHandBw->imageData))[i-FREENECT_FRAME_W] == 0)
perimeter++;
}
}
formFactor= 4 * M_PI * area / (perimeter * perimeter);
//printf("PointCount: %d - Perimeter: %d - FF: %f\n", area, perimeter, formFactor);
// cvShowImage("Depth", imageHandBw);
cvReleaseImage(&imageHandBw);
return (formFactor < OPEN_HAND_FORM_FACTOR);
}
vector<int> threshold(vector<int> image) {
vector<int> binaryImage(NUM_PIXELS, 0);
for(int i=0; i < NUM_PIXELS; i++)
binaryImage[i] = (image[i] > 127) ? 1 : 0;
return binaryImage;
}
void getEndPointOfLine(const Mat src,const vector<electronComponent> DeviceSet,vector<Cline> &circuitLines){
//binary
Mat binary;
double thre = 10;
int mode = CV_THRESH_BINARY_INV;
binaryImage(src, binary, thre, mode);
//排除元器件，将元器件涂黑
Mat srcB = src.clone();
for(int i = 0;i <DeviceSet.size();i++){
electronComponent DeviceInfo = DeviceSet[i];
vector<vector<Point>> tmp;
tmp.push_back(DeviceSet[i].contours);
drawContours(srcB, tmp, 0, Scalar(0),CV_FILLED);
}
//线的细化
Mat bin;
int intera = 8;
imageThin(binary,bin,intera);
//寻找曲线的端点
vector<vector<Point> > contours;
Mat copyBin;
bin.copyTo(copyBin);
findContours(copyBin, contours, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
vector<Cline> lines;
for (size_t i = 0; i < contours.size(); i++) {
if (contours[i].size() < 10) {
continue;
}
vector<Point> endPoint;
findEndPoint(bin,contours[i], endPoint);
if (endPoint.size() > 0) {
Cline line;
line.numPoint = (int)endPoint.size();
for (size_t k = 0;k < endPoint.size();k++) {
line.endPoint.push_back(endPoint[k]);
}
lines.push_back(line);
}
}
//找与线连接的半圆
Mat binaryB = Mat::zeros(srcB.rows, srcB.cols, CV_8UC1);
int value1 = 200;
int value2 = 20;
for (int i = 0; i < srcB.rows; i++) {
for (int j = 0; j < srcB.cols; j++) {
if (!(srcB.at<Vec3b>(i,j)[0] >= value1 && srcB.at<Vec3b>(i,j)[1] >= value1 &&srcB.at<Vec3b>(i,j)[2] >= value1 ) && !(srcB.at<Vec3b>(i,j)[0] <= value2 && srcB.at<Vec3b>(i,j)[1] <= value2 &&srcB.at<Vec3b>(i,j)[2] <= value2)) {
binaryB.at<uchar>(i,j) = 255;
}
}
}
medianBlur(binaryB, binaryB, 5);
vector<CSemicircle> semicircles;
//求半圆的半径 圆心
vector<vector<Point> > contoursb;
Mat copyBinaryb = binaryB.clone();
#ifdef _SHOW_
Mat binaryBrgb;
cvtColor(binaryB,binaryBrgb, CV_GRAY2BGR);
#endif
findContours(copyBinaryb, contoursb, CV_RETR_EXTERNAL, CV_CHAIN_APPROX_NONE);
for (int k = 0; k < contoursb.size(); k++) {
CSemicircle semi;
float radius;
Point2f center;
minEnclosingCircle(contoursb[k],center, radius);
#ifdef _SHOW_
circle(binaryBrgb, center, radius, Scalar(0,0,255));
#endif
semi.center = center;
semi.radius = radius;
semicircles.push_back(semi);
}
//连接曲线与半圆
//1 首先将连接的直线连接起来
vector<Cline> newLines;
float threRadius = 1.5;
for (int i = 0; i < lines.size(); i++) {
Cline line;
line.numPoint = lines[i].numPoint;
for (int j = 0 ; j < lines[i].numPoint; j++ ) {
for (int k = 0; k < semicircles.size(); k++) {
if (distancePoint(lines[i].endPoint[j], semicircles[k].center) < threRadius * semicircles[k].radius) {
line.endPoint.push_back(semicircles[k].center);
break;
}
}
}
newLines.push_back(line);
}
#ifdef _SHOW_
Mat rgb2 = src.clone();
for (int i = 0; i < newLines.size(); i++) {
for (int j = 0 ; j < newLines[i].numPoint; j++) {
circle(rgb2,newLines[i].endPoint[j], 3, Scalar(0,0,255),CV_FILLED);
}
}
imshow("rgb2", rgb2);
imshow("ConnectPart",binaryBrgb);
waitKey();
std::cout << "newLines: " << newLines.size() << std::endl;
#endif
//合并
for (int i = 0; i < newLines.size() ; i++) {
int flag = 0;
for (int j = i+1; j < newLines.size(); j++) {
for (int m = 0 ; m < newLines[i].numPoint; m++) {
for (int n = 0; n < newLines[j].numPoint; n++) {
if (newLines[i].endPoint[m] == newLines[j].endPoint[n]) {
vector<Point> newEndPoint;
for (int km = 0; km < newLines[i].numPoint; km++) {
if (km == m) {
continue;
}
newEndPoint.push_back(newLines[i].endPoint[km]);
}
for (int kn = 0; kn < newLines[j].numPoint; kn++) {
if (kn == n) {
continue;
}
newEndPoint.push_back(newLines[j].endPoint[kn]);
}
newLines[i].endPoint.clear();
for (int k = 0; k < newEndPoint.size(); k++) {
newLines[i].endPoint.push_back(newEndPoint[k]);
}
newLines[i].numPoint = (int)newLines[i].endPoint.size();
newLines[j].numPoint = 0;
newLines[j].endPoint.clear();
flag = 1;
break;
}
}
if (flag == 1) {
break;
}
}
flag = 0;
}
}
for (int i = 0; i < newLines.size(); i++) {
if (newLines[i].numPoint == 0) {
continue;
}
circuitLines.push_back(newLines[i]);
}
#ifdef _SHOW_
Mat rgb3 = src.clone();
for (int i = 0; i < circuitLines.size(); i++) {
for (int j = 0 ; j < circuitLines[i].numPoint; j++) {
circle(rgb3,circuitLines[i].endPoint[j], 3, Scalar(0,0,255),CV_FILLED);
}
imshow("rgb3", rgb3);
waitKey();
}
std::cout << "circuitLines: " << circuitLines.size() << std::endl;
#endif
}
