mirror of
https://github.com/Laex/Delphi-OpenCV.git
synced 2024-11-16 08:15:52 +01:00
374 lines
12 KiB
ObjectPascal
374 lines
12 KiB
ObjectPascal
(* /*****************************************************************
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// Delphi-OpenCV Demo
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// Copyright (C) 2013 Project Delphi-OpenCV
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// ****************************************************************
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// Contributor:
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// laentir Valetov
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// email:laex@bk.ru
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// ****************************************************************
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// You may retrieve the latest version of this file at the GitHub,
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// located at git://github.com/Laex/Delphi-OpenCV.git
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// ****************************************************************
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// The contents of this file are used with permission, subject to
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// the Mozilla Public License Version 1.1 (the "License"); you may
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// not use this file except in compliance with the License. You may
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// obtain a copy of the License at
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// http://www.mozilla.org/MPL/MPL-1_1Final.html
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//
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// Software distributed under the License is distributed on an
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// "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or
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// implied. See the License for the specific language governing
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// rights and limitations under the License.
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******************************************************************* *)
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///
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// Ñòûðåíî ó "Header files OpenCV 2.4.3 for Delphi XE3"
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// https://code.google.com/p/opencv-delphi-new/
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///
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program HandsDetect;
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{$APPTYPE CONSOLE}
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{$POINTERMATH ON}
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{$R *.res}
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uses
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System.SysUtils,
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uLibName in '..\..\..\include\uLibName.pas',
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highgui_c in '..\..\..\include\highgui\highgui_c.pas',
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core_c in '..\..\..\include\ñore\core_c.pas',
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Core.types_c in '..\..\..\include\ñore\Core.types_c.pas',
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imgproc.types_c in '..\..\..\include\imgproc\imgproc.types_c.pas',
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imgproc_c in '..\..\..\include\imgproc\imgproc_c.pas',
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legacy in '..\..\..\include\legacy\legacy.pas',
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calib3d in '..\..\..\include\calib3d\calib3d.pas',
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imgproc in '..\..\..\include\imgproc\imgproc.pas',
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haar in '..\..\..\include\objdetect\haar.pas',
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objdetect in '..\..\..\include\objdetect\objdetect.pas',
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tracking in '..\..\..\include\video\tracking.pas',
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Core in '..\..\..\include\ñore\core.pas'
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;
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const
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NUM_FINGERS = 5;
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NUM_DEFECTS = 8;
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type
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pCtx = ^TCtx;
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TCtx = packed record
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capture: pCvCapture; // Capture handle
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image: pIplImage; // Input image
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thr_image: pIplImage; // After filtering and thresholding
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temp_image1: pIplImage; // Temporary image (1 channel)
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temp_image3: pIplImage; // Temporary image (3 channels)
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contour: pCvSeq; // Êîíòóð ðóêè
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hull: pCvSeq; // Êàðêàñ êîíòóðà âûïóêëîñòè
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hand_center: TCvPoint;
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fingers: pCvPointArray; // Detected fingers positions
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defects: pCvPointArray; // Convexity defects depth points
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hull_st: pCvMemStorage;
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contour_st: pCvMemStorage;
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temp_st: pCvMemStorage;
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defects_st: pCvMemStorage; // Õðàíèëèùå äëÿ ðåçóëüòàòà âû÷èñëåíèÿ ïîñëåäîâàòåëüíîñòè äåôåêòîâ
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kernel: pIplConvKernel; // Kernel for morph operations
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NUM_FINGERS: Integer;
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hand_radius: Integer;
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NUM_DEFECTS: Integer;
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end;
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var
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key: Integer;
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MyCtx: pCtx;
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procedure InitCapture(const Ctx: pCtx);
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var
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width: Double;
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height: Double;
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begin
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Ctx.capture := cvCreateCameraCapture(CV_CAP_ANY);
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if not Assigned(Ctx.capture) then
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begin
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WriteLn('[i] Error initializing capture.');
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Halt;
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end;
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// Óçíàåì øèðèíó è âûñîòó êàäðà
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width := cvGetCaptureProperty(Ctx.capture, CV_CAP_PROP_FRAME_WIDTH);
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height := cvGetCaptureProperty(Ctx.capture, CV_CAP_PROP_FRAME_HEIGHT);
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// WriteLn(Format('[i] %.0f x %.0f', [width, height]));
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Ctx.image := cvQueryFrame(Ctx.capture);
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WriteLn('[i] Start capture.');
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end;
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procedure InitWindows;
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begin
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cvNamedWindow('output', CV_WINDOW_AUTOSIZE);
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cvNamedWindow('thresholded', CV_WINDOW_AUTOSIZE);
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cvMoveWindow('output', 50, 50);
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cvMoveWindow('thresholded', 700, 50);
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end;
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procedure InitCtx(const Ctx: pCtx);
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begin
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// Ñîçäà¸ì îäíîêàíàëüíûå êàðòèíêè
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Ctx.thr_image := cvCreateImage(cvGetSize(Ctx.image), IPL_DEPTH_8U, 1);
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Ctx.temp_image1 := cvCreateImage(cvGetSize(Ctx.image), IPL_DEPTH_8U, 1);
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// Ñîçäà¸ì 3-õ êàíàëüíóþ êàðòèíêó
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Ctx.temp_image3 := cvCreateImage(cvGetSize(Ctx.image), IPL_DEPTH_8U, 3);
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Ctx.kernel := cvCreateStructuringElementEx(9, 9, 4, 4, CV_SHAPE_RECT, nil);
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// Ñîçäàåì õðàíèëèùà
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Ctx.contour_st := cvCreateMemStorage(0);
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Ctx.hull_st := cvCreateMemStorage(0);
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Ctx.temp_st := cvCreateMemStorage(0);
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Ctx.fingers := AllocMem((NUM_FINGERS + 1) * sizeof(TCvPoint));
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Ctx.defects := AllocMem(NUM_DEFECTS * sizeof(TCvPoint));
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end;
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procedure FilterAndThreshold(const Ctx: pCtx);
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begin
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// Soften image
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cvSmooth(Ctx.image, Ctx.temp_image3, CV_GAUSSIAN, 11, 11, 0, 0);
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// Remove some impulsive noise
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cvSmooth(Ctx.temp_image3, Ctx.temp_image3, CV_MEDIAN, 11, 11, 0, 0);
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cvCvtColor(Ctx.temp_image3, Ctx.temp_image3, CV_BGR2HSV);
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{ * Apply threshold on HSV values
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* Threshold values should be customized according to environment
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* }
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cvInRangeS(Ctx.temp_image3, cvScalar(0, 0, 160, 0), cvScalar(255, 400, 300, 255), Ctx.thr_image);
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// Apply morphological opening
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cvMorphologyEx(Ctx.thr_image, Ctx.thr_image, nil, Ctx.kernel, CV_MOP_OPEN, 1);
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cvSmooth(Ctx.thr_image, Ctx.thr_image, CV_GAUSSIAN, 3, 3, 0, 0);
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end;
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// Ïîèñê êîíòóðîâ
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procedure FindContour(const Ctx: pCtx);
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var
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area, max_area: Double;
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contours, tmp, contour: pCvSeq;
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cont: pIplImage;
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begin
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area := 0.0;
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max_area := 0.0;
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contours := nil;
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tmp := nil;
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contour := nil;
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// cvFindContours modifies input image, so make a copy
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cvCopy(Ctx.thr_image, Ctx.temp_image1, nil);
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// Íàõîäèì êîíòóðû
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cvFindContours(Ctx.temp_image1, Ctx.temp_st, @contours, sizeof(TCvContour), CV_RETR_EXTERNAL,
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CV_CHAIN_APPROX_NONE { CV_CHAIN_APPROX_SIMPLE } , cvPoint(0, 0));
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// Çàâåä¸ì êàðòèíêó äëÿ êîíòóðà
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cont := cvCreateImage(cvGetSize(Ctx.temp_image1), IPL_DEPTH_8U, 3);
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// Select contour having greatest area
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tmp := contours;
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while (tmp <> nil) do
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begin
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area := abs(cvContourArea(tmp, CV_WHOLE_SEQ, 0));
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if area > max_area then
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begin
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// WriteLn(Format('[i] area = %.1f', [area]));
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max_area := area;
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contour := tmp;
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end;
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// Ðèñóåì êîíòóð
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cvDrawContours(cont, tmp, CV_RGB(255, 216, 0), CV_RGB(0, 0, 250), 0, 1, 8, cvPoint(0, 0));
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tmp := tmp.h_next;
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end;
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// Approximate contour with poly-line
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if contour <> nil then
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begin
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contour := cvApproxPoly(contour, sizeof(TCvContour), Ctx.contour_st, CV_POLY_APPROX_DP, 2, 1);
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Ctx.contour := contour;
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end;
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// Ïîêàæåì êîíòóð
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cvDrawContours(cont, contour, CV_RGB(52, 201, 36), CV_RGB(36, 201, 197), 0, 2, 8, cvPoint(0, 0));
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cvNamedWindow('ContT', CV_WINDOW_AUTOSIZE);
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cvShowImage('ContT', cont);
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end;
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procedure FindConvexHull(const Ctx: pCtx);
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var
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defects: pCvSeq;
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defect_array: pCvConvexityDefect;
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i: Integer;
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d, x, y: Integer;
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dist: Double;
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begin
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x := 0;
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y := 0;
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dist := 0;
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Ctx.hull := nil;
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if not Assigned(Ctx.contour) then
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Exit;
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// Âû÷èñëÿåì êàðêàñ êîíòóðà âûïóêëîñòè
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Ctx.hull := cvConvexHull2(Ctx.contour, Ctx.hull_st, CV_CLOCKWISE, 0);
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if Assigned(Ctx.hull) then
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begin
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// Âû÷èñëÿåì ïîñëåäîâàòåëüíîñòü äåôåêòîâ
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defects := cvConvexityDefects(Ctx.contour, Ctx.hull, Ctx.defects_st);
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if Assigned(defects) and (defects.total <> 0) then
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begin
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defect_array := AllocMem(defects.total * sizeof(TCvConvexityDefect));
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cvCvtSeqToArray(defects, defect_array, CV_WHOLE_SEQ);
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// Average depth points to get hand center
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// Âû÷èñëåíèå ãëóáèíû ñðåäíåé òî÷êè, ÷òîáû ïîëó÷èòü öåíòð ðóêè
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i := 0;
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while (i < defects.total) and (i < NUM_DEFECTS) do
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begin
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x := x + defect_array[i].depth_point.x;
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y := y + defect_array[i].depth_point.y;
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Ctx.defects[i] := cvPoint(defect_array[i].depth_point.x, defect_array[i].depth_point.y);
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Inc(i);
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// WriteLn(Format('[i] x = %d, y = %d', [Ctx.defects[i].x, Ctx.defects[i].y]));
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// WriteLn(Format('[i] defects.total: %d', [defects.total]));
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end;
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x := x div defects.total;
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y := y div defects.total;
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Ctx.NUM_DEFECTS := defects.total;
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Ctx.hand_center := cvPoint(x, y);
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// WriteLn(Format('[i] defects.total: %d', [defects.total]));
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// WriteLn(Format('[i] hand_center: x = %d, y = %d', [Ctx.hand_center.x, Ctx.hand_center.y]));
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// Compute hand radius as mean of distances of defects' depth point to hand center
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// Âû÷èñëÿåì ðàäèóñ ðóêè
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for i := 0 to defects.total - 1 do
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begin
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d := (x - defect_array[i].depth_point.x) * (x - defect_array[i].depth_point.x) +
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(y - defect_array[i].depth_point.y) * (y - defect_array[i].depth_point.y);
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dist := dist + sqrt(d);
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end;
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Ctx.hand_radius := Trunc(dist) div defects.total;
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// WriteLn(Format('[i] hand_radius: %d', [Ctx.hand_radius]));
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FreeMem(defect_array);
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end;
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end;
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end;
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procedure FindFingers(const Ctx: pCtx);
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var
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n, i, cx, cy, dist, dist1, dist2: Integer;
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// points: pCvPoint;
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points: pCvPointArray;
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max_point: TCvPoint;
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finger_distance: array [0 .. NUM_FINGERS + 1] of Integer;
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begin
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dist1 := 0;
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dist2 := 0;
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Ctx.NUM_FINGERS := 0;
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if (not Assigned(Ctx.contour)) or (not Assigned(Ctx.hull)) then
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Exit;
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n := Ctx.contour.total;
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points := AllocMem(n * sizeof(TCvPoint));
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cvCvtSeqToArray(Ctx.contour, points, CV_WHOLE_SEQ);
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{ * Fingers are detected as points where the distance to the center
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* is a local maximum
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* }
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for i := 0 to n - 1 do
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begin
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cx := Ctx.hand_center.x;
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cy := Ctx.hand_center.y;
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dist := (cx - points[i].x) * (cx - points[i].x) + (cy - points[i].y) * (cy - points[i].y);
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if (dist < dist1) and (dist1 > dist2) and (max_point.x <> 0) and (max_point.y < cvGetSize(Ctx.image).height - 10)
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then
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begin
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finger_distance[Ctx.NUM_FINGERS] := dist;
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Inc(Ctx.NUM_FINGERS);
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Ctx.fingers[Ctx.NUM_FINGERS] := max_point;
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if Ctx.NUM_FINGERS >= NUM_FINGERS + 1 then
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Break;
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end;
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dist2 := dist1;
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dist1 := dist;
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max_point := points[i];
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end;
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FreeMem(points);
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end;
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procedure Display(const Ctx: pCtx);
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var
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i: Integer;
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begin
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if Ctx.NUM_FINGERS = NUM_FINGERS then
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begin
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// ifdef SHOW_HAND_CONTOUR
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// cvDrawContours(ctx.image, ctx.contour, CV_RGB(0,0,255), CV_RGB(0,255,0), 0, 1, CV_AA, cvPoint(0,0));
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// #endif
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cvCircle(Ctx.image, Ctx.hand_center, 5, CV_RGB(255, 0, 255), 1, CV_AA, 0);
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cvCircle(Ctx.image, Ctx.hand_center, Ctx.hand_radius, CV_RGB(255, 0, 0), 1, CV_AA, 0);
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for i := 0 to Ctx.NUM_FINGERS - 1 do
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begin
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cvCircle(Ctx.image, Ctx.fingers[i], 10, CV_RGB(0, 255, 0), 3, CV_AA, 0);
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cvLine(Ctx.image, Ctx.hand_center, Ctx.fingers[i], CV_RGB(255, 255, 0), 1, CV_AA, 0);
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end;
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for i := 0 to Ctx.NUM_DEFECTS - 1 do
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cvCircle(Ctx.image, Ctx.defects[i], 2, CV_RGB(200, 200, 200), 2, CV_AA, 0);
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end;
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cvShowImage('output', Ctx.image);
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cvShowImage('thresholded', Ctx.thr_image);
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end;
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procedure ClearRes(const Ctx: pCtx);
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begin
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// Îñâîáîæäàåì ðåñóðñû
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cvReleaseCapture(Ctx.capture);
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// cvReleaseImage(Ctx.image);
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cvReleaseImage(Ctx.thr_image);
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cvReleaseImage(Ctx.temp_image1);
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cvReleaseImage(Ctx.temp_image3);
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cvReleaseMemStorage(Ctx.hull_st);
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cvReleaseMemStorage(Ctx.contour_st);
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cvReleaseMemStorage(Ctx.defects_st);
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cvReleaseMemStorage(Ctx.temp_st);
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cvReleaseStructuringElement(Ctx.kernel);
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FreeMem(Ctx.fingers);
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FreeMem(Ctx.defects);
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cvDestroyAllWindows();
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end;
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begin
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try
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MyCtx := AllocMem(sizeof(TCtx));
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InitCapture(MyCtx);
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InitWindows;
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InitCtx(MyCtx);
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while true do
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begin
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MyCtx.image := cvQueryFrame(MyCtx.capture);
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// Ôèëüòðóåì
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FilterAndThreshold(MyCtx);
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// Îïðåäåëåíèå êîíòóðîâ
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FindContour(MyCtx);
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FindConvexHull(MyCtx);
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FindFingers(MyCtx);
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Display(MyCtx);
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key := cvWaitKey(33);
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if (key = 27) then
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Break;
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end;
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ClearRes(MyCtx);
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FreeMem(MyCtx);
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except
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on E: Exception do
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WriteLn(E.ClassName, ': ', E.Message);
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end;
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end.
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