void Extractor::extract(MatSet& srcSet, Region& result) {
//いったん手続き型でアルゴリズムを作成する
//TODO : メソッド分割すべし
ChannelSet channelSet(srcSet);
//エッジ画像を取得する
vector<Mat> rawEdges;
_edgeFactory.createEdges(srcSet, rawEdges, channelSet);
Mat dstEdgeImg(srcSet.size().height,srcSet.size().width, CV_8UC1, 255);
revMergeEdges(rawEdges, _previousRegion.expectedRoi(), dstEdgeImg);
erode(dstEdgeImg, dstEdgeImg, cv::Mat(), Point(-1,-1), 1);
imshow("revEdge", dstEdgeImg);
Mat mat = Mat::zeros(srcSet.size(), CV_8UC1);
if(_indexOfMaxArea >=0){
int yBegin = _previousRegion.expectedRoi().y;
int yEnd = _previousRegion.expectedRoi().y+_previousRegion.expectedRoi().height;
int xBegin = _previousRegion.expectedRoi().x;
int xEnd = _previousRegion.expectedRoi().x+_previousRegion.expectedRoi().width;
for(int y=yBegin; y<yEnd; y++) {
for(int x=xBegin; x<xEnd; x++) {
// if(_featureReference.isWithinThreshold(srcSet, Point(x,y)) ) {
// L(mat,x,y) = 255;
// }
if(L(channelSet.crMat(),x,y) >= _binarizationThreshold[7] && L(channelSet.gMat(),x,y) <=_binarizationThreshold[1] && L(channelSet.rMat(),x,y) >=_binarizationThreshold[2]) {
L(mat,x,y) = 255;
} else if(L(channelSet.sMat(),x,y) >=_binarizationThreshold[4] && L(channelSet.crMat(),x,y) >= 154 && L(channelSet.gMat(),x,y) <= 40 && L(channelSet.bMat(),x,y) <= 41 ) {
L(mat,x,y) = 255;
}
}
}
} else {
for(int y=0; y<srcSet.size().height; y++) {
for(int x=0; x<srcSet.size().width; x++) {
// if(_featureReference.isWithinThreshold(srcSet, Point(x,y)) ) {
// L(mat,x,y) = 255;
// }
if(L(channelSet.crMat(),x,y) >= _binarizationThreshold[7] && L(channelSet.gMat(),x,y) <=_binarizationThreshold[1] && L(channelSet.rMat(),x,y) >=_binarizationThreshold[2]) {
L(mat,x,y) = 255;
} else if(L(channelSet.sMat(),x,y) >=_binarizationThreshold[4] && L(channelSet.crMat(),x,y) >= 154 && L(channelSet.gMat(),x,y) <= 40 && L(channelSet.bMat(),x,y) <= 41 ) {
L(mat,x,y) = 255;
}
}
}
}
dilate(mat, mat, cv::Mat(), Point(-1,-1), _extractionManager.dilateCount());
erode(mat, mat, cv::Mat(), Point(-1,-1), _extractionManager.erodeCount());
// imshow("colorExtract", mat);
//最大面積
vPs contours;
findContours(mat, contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
vector<int> indexiesOfTop3Area = calcIndexiesOfTop3Area(contours);
// _indexOfMaxArea = calcIndexOfMaxArea(contours);
_indexOfMaxArea = indexiesOfTop3Area[0];
Mat mat2 = Mat::zeros(srcSet.size(), CV_8UC1);
if(indexiesOfTop3Area[1] >= 0) {
Point2f vertices[4];
_previousRegion.rotatedRect().points(vertices);
vector<Point> allPoints = contours[indexiesOfTop3Area[0]];
if(indexiesOfTop3Area[2] >= 0) {
drawContours(mat2, contours, indexiesOfTop3Area[1], Scalar(255, 255, 255), CV_FILLED, LINK_EIGHT);
drawContours(mat2, contours, indexiesOfTop3Area[2], Scalar(255, 255, 255), CV_FILLED, LINK_EIGHT);
drawContours(mat2, contours, _indexOfMaxArea, Scalar(255, 255, 255), CV_FILLED, LINK_EIGHT);
for(int i=1; i<3; i++) {
for(Point point :contours[indexiesOfTop3Area[i]]) {
if(isInROI(point, vertices)) {
allPoints.push_back(point);
}
}
}
} else {
drawContours(mat2, contours, indexiesOfTop3Area[1], Scalar(255, 255, 255), CV_FILLED, LINK_EIGHT);
drawContours(mat2, contours, _indexOfMaxArea, Scalar(255, 255, 255), CV_FILLED, LINK_EIGHT);
for(int i=1; i<2; i++) {
for(Point point :contours[indexiesOfTop3Area[i]]) {
if(isInROI(point, vertices)) {
allPoints.push_back(point);
}
}
}
}
RotatedRect rect = minAreaRect(Mat(allPoints));
// Point2f vertices[4];
// rect.points(vertices);
// for (int i = 0; i < 4; i++) line(mat2, vertices[i], vertices[(i+1)%4], Scalar(255,255,255), 4, 8, 0);
result.setContour(contours[_indexOfMaxArea]);//TODO:本来は結合した輪郭を入れるか別にいれる必要がある
result.setMaskImg(mat2);
result.setRotatedRect(rect);
result.calcRoiWithRotatedRect();
result.calcExpectedRoiConsideringMoveWithRotatedRect(_previousRegion);
_previousRegion = result;
// imshow("merge", mat2);
} else {
drawContours(mat2, contours, _indexOfMaxArea, Scalar(255, 255, 255), CV_FILLED, LINK_EIGHT);
result.setMaskImg(mat2);
if(_indexOfMaxArea>=0) {
result.setContour(contours[_indexOfMaxArea]);
result.calcRotatedRect();
result.calcRoi();
result.calcExpectedRoiConsideringMove(_previousRegion);
}
_previousRegion = result;
// imshow("merge", mat2);
}
//エッジ画像を取得する
// // _edgeService.extractEdge(rawEdges, areamaxRegion.rois()[0], dstEdgeImg);
// // imshow("edge", dstEdgeImg);
// //残ったエッジ画像と色による抽出画像を合成する
// bitwise_or(areamaxRegion.maskImg(), dstEdgeImg, dstEdgeImg);
// drawContours(dstEdgeImg, areamaxRegion.contours(), 0, Scalar(255, 255, 255), CV_FILLED, LINK_EIGHT);
// int minSize = 200;
// _contourService.fillContours(dstEdgeImg, minSize);
}
void Extractor::extractCoffee(MatSet& srcSet, Region& result) {
map<ChannelType, Mat> channelMats;
Mat bgrChannels[3];
split(srcSet.blur(), bgrChannels);
channelMats.insert( map<ChannelType,Mat>::value_type(ChannelType::blue, bgrChannels[0]) );
channelMats.insert( map<ChannelType,Mat>::value_type(ChannelType::green, bgrChannels[1]) );
channelMats.insert( map<ChannelType,Mat>::value_type(ChannelType::red, bgrChannels[2]) );
Mat hsvChannels[3];
split(srcSet.hsv(), hsvChannels);
channelMats.insert( map<ChannelType,Mat>::value_type(ChannelType::hue, hsvChannels[0]) );
channelMats.insert( map<ChannelType,Mat>::value_type(ChannelType::saturation, hsvChannels[1]) );
channelMats.insert( map<ChannelType,Mat>::value_type(ChannelType::value, hsvChannels[2]) );
Mat ycrcbChannels[3];
split(srcSet.ycrcb(), ycrcbChannels);
channelMats.insert( map<ChannelType,Mat>::value_type(ChannelType::y, ycrcbChannels[0]) );
channelMats.insert( map<ChannelType,Mat>::value_type(ChannelType::cr, ycrcbChannels[1]) );
channelMats.insert( map<ChannelType,Mat>::value_type(ChannelType::cb, ycrcbChannels[2]) );
//エッジ画像を取得する
vector<Mat> rawEdges;
//_edgeFactory.createEdges(srcSet, rawEdges);
_edgeFactory.createEdges(srcSet, rawEdges, channelMats);
Mat dstEdgeImg(srcSet.size().height,srcSet.size().width, CV_8UC1, 255);
revMergeEdges(rawEdges, _previousRegion.expectedRoi(), dstEdgeImg);
Mat dstEdgeImg2 = dstEdgeImg.clone();
//erode(dstEdgeImg, dstEdgeImg, cv::Mat(), Point(-1,-1), 2);
//imshow("revEdge", dstEdgeImg);
Mat mat = Mat::zeros(srcSet.size(), CV_8UC1);
if(_indexOfMaxArea >=0){
int yBegin = _previousRegion.expectedRoi().y;
int yEnd = _previousRegion.expectedRoi().y+_previousRegion.expectedRoi().height;
int xBegin = _previousRegion.expectedRoi().x;
int xEnd = _previousRegion.expectedRoi().x+_previousRegion.expectedRoi().width;
for(int y=yBegin; y<yEnd; y++) {
for(int x=xBegin; x<xEnd; x++) {
// if(_featureReference.isWithinThreshold(srcSet, Point(x,y)) ) {
// L(mat,x,y) = 255;
// }
if(L(ycrcbChannels[1],x,y) <= _binarizationThreshold[7] && L(bgrChannels[1],x,y) <=_binarizationThreshold[1] && L(bgrChannels[2],x,y) <=_binarizationThreshold[2]
&& L(ycrcbChannels[0],x,y) <= _binarizationThreshold[6
&& L(hsvChannels[2],x,y) <=_binarizationThreshold[5]]) {
L(mat,x,y) = 255;
}
}
}
} else {
for(int y=0; y<srcSet.size().height; y++) {
for(int x=0; x<srcSet.size().width; x++) {
// if(_featureReference.isWithinThreshold(srcSet, Point(x,y)) ) {
// L(mat,x,y) = 255;
// }
if(L(ycrcbChannels[1],x,y) <= _binarizationThreshold[7] && L(bgrChannels[1],x,y) <=_binarizationThreshold[1] && L(bgrChannels[2],x,y) <=_binarizationThreshold[2]
&& L(ycrcbChannels[0],x,y) <= _binarizationThreshold[6
&& L(hsvChannels[2],x,y) <=_binarizationThreshold[5]]) {
L(mat,x,y) = 255;
}
}
}
}
dilate(mat, mat, cv::Mat(), Point(-1,-1), _extractionManager.dilateCount());
//erode(mat, mat, cv::Mat(), Point(-1,-1), _extractionManager.erodeCount());
imshow("colorExtract", mat);
//最大面積
vPs contours;
findContours(mat, contours, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
vector<int> indexiesOfTop3Area = calcIndexiesOfTop3Area(contours);
// _indexOfMaxArea = calcIndexOfMaxArea(contours);
_indexOfMaxArea = indexiesOfTop3Area[0];
Mat mat2 = Mat::zeros(srcSet.size(), CV_8UC1);
drawContours(mat2, contours, _indexOfMaxArea, Scalar(255, 255, 255), CV_FILLED, LINK_EIGHT);
imshow("merge", mat2);
//エッジ画像を取得する
_edgeService.drawEdge(dstEdgeImg2, dstEdgeImg2, 255);
// _edgeService.extractEdge(rawEdges, contours[_indexOfMaxArea], dstEdgeImg);
imshow("edge", dstEdgeImg2);
//残ったエッジ画像と色による抽出画像を合成する
bitwise_or(mat2, dstEdgeImg2, dstEdgeImg2);
vPs contours2;
findContours(dstEdgeImg2, contours2, CV_RETR_LIST, CV_CHAIN_APPROX_NONE);
_indexOfMaxArea = calcIndexOfMaxArea(contours2);
//_indexOfMaxArea = indexiesOfTop3Area[0];
Mat mat3 = Mat::zeros(srcSet.size(), CV_8UC1);
drawContours(mat3, contours2, 0, Scalar(255, 255, 255), CV_FILLED, LINK_EIGHT);
result.setMaskImg(mat3);
if(_indexOfMaxArea>=0) {
result.setContour(contours2[_indexOfMaxArea]);
result.calcRotatedRect();
result.calcRoi();
result.calcExpectedRoiConsideringMove(_previousRegion);
}
_previousRegion = result;
// int minSize = 200;
// _contourService.fillContours(dstEdgeImg, minSize);
}
