SANAS/Base/CommTool/BasicCalculationHelper.cs

using System;
using System.Collections.Generic;
using System.Drawing;
using System.Linq;

namespace SmartCoalApplication.Base.CommTool
{
    /// <summary>
    /// 基础计算帮助类
    /// </summary>
    public class BasicCalculationHelper
    {
        /// <summary>
        /// 计算两点之间的距离
        /// </summary>
        /// <param name="startPoint">起点</param>
        /// <param name="endPoint">终点</param>
        /// <returns></returns>
        public static double GetDistance(Point startPoint, Point endPoint, int digit)
        {
            try
            {
                long x = System.Math.Abs(endPoint.X - startPoint.X);
                long y = System.Math.Abs(endPoint.Y - startPoint.Y);
                return Math.Round(Math.Sqrt(x * x + y * y), digit);
            }
            catch (Exception)
            {

            }
            return 0.0;
        }

        /// <summary>
        /// 计算两点之间的距离
        /// </summary>
        /// <param name="startPoint">起点</param>
        /// <param name="endPoint">终点</param>
        /// <returns></returns>
        public static double GetDistance(PointF startPoint, PointF endPoint)
        {
            try
            {
                float x = System.Math.Abs(endPoint.X - startPoint.X);
                float y = System.Math.Abs(endPoint.Y - startPoint.Y);
                return Math.Sqrt(x * x + y * y);
            }
            catch (Exception)
            {

            }
            return 0.0;
        }

        public static double GetDistance(PointF startPoint, PointF endPoint, int digit)
        {
            try
            {
                long x = System.Math.Abs((int)(endPoint.X - startPoint.X));
                long y = System.Math.Abs((int)(endPoint.Y - startPoint.Y));
                return Math.Round(Math.Sqrt(x * x + y * y), digit);
            }
            catch (Exception)
            {

            }
            return 0.0;
        }

        /// <summary>
        /// opencv的仿射变换
        /// </summary>
        /// <param name="src"></param>
        /// <param name="center"></param>
        /// <param name="angle"></param>
        /// <returns></returns>
        public static OpenCvSharp.Point GetPointAffinedPos(OpenCvSharp.Point src, OpenCvSharp.Point center, double angle)
        {
            OpenCvSharp.Point dst;
            int x = src.X - center.X;
            int y = src.Y - center.Y;

            dst.X = (int)Math.Round(x * Math.Cos(angle) + y * Math.Sin(angle) + center.X);
            dst.Y = (int)Math.Round(-x * Math.Sin(angle) + y * Math.Cos(angle) + center.Y);
            return dst;
        }

        /// <summary>
        /// 计算轮廓内最左和最右点的距离
        /// </summary>
        /// <returns></returns>
        public static int GetLeftAndRightDistance(OpenCvSharp.Point[] points)
        {
            OpenCvSharp.Point left = points[0];
            OpenCvSharp.Point right = points[0];

            foreach (OpenCvSharp.Point p in points)
            {
                if (left.X > p.X)
                {
                    left = p;
                }
                if (right.X < p.X)
                {
                    right = p;
                }
            }
            return right.X - left.X;
        }

        public static List<int> GetCaliperDiameter(OpenCvSharp.Point[] contours, OpenCvSharp.HierarchyIndex hierarchyIndex)
        {
            //计算结果
            List<int> vs = new List<int>();
            //每次旋转的角度
            double angle = 360 / 64;
            //计算中心点
            OpenCvSharp.Moments m = OpenCvSharp.Cv2.Moments(contours);
            double cx = m.M10 / m.M00;
            double cy = m.M01 / m.M00;

            for (int i = 0; i < 64; i++)
            {
                if (i == 0)
                {
                    vs.Add(GetLeftAndRightDistance(contours));
                }
                else
                {
                    if (contours.Length >= 5 && hierarchyIndex.Parent == -1 && !Double.IsNaN(cx))
                    {
                        try
                        {
                            OpenCvSharp.Point[] temps = new OpenCvSharp.Point[contours.Count()];
                            for (int j = 0; j < contours.Count(); j++)
                            {
                                temps[j] = BasicCalculationHelper.GetPointAffinedPos(contours[j], new OpenCvSharp.Point(cx, cy), angle * i);
                            }
                            vs.Add(GetLeftAndRightDistance(temps));
                        }
                        catch (Exception)
                        {

                        }
                    }
                    /*else
                    {
                        vs.Add(0);
                    }*/
                }
            }
            return vs;
        }

        /// <summary>
        /// 求第三个点到直线上的垂足的点
        /// </summary>
        /// <param name="start">构成直线的点1</param>
        /// <param name="end">构成直线的点2</param>
        /// <param name="three">线外的一点</param>
        /// <returns></returns>
        public static PointF GetDropFeet(PointF start, PointF end, PointF three)
        {
            PointF footPoint = new PointF();
            // 求直线斜率
            double k = (double)(end.Y - start.Y) / (end.X - start.X);
            //pointArray[0].X == pointArray[1].X || pointArray[0].Y == pointArray[1].Y
            if (double.IsInfinity(k) || Math.Abs(k) < 0.001) //垂线斜率不存在或斜率为0
            {
                if (k > 0)
                {
                    footPoint.X = start.X;
                    footPoint.Y = three.Y;
                }
                else if (k < 0)
                {
                    footPoint.X = start.X;
                    footPoint.Y = three.Y;
                }
                else
                {
                    footPoint.Y = start.Y;
                    footPoint.X = three.X;
                }
            }
            else
            {
                footPoint.X = (float)((k * start.X + three.X / k + three.Y - start.Y) / (1 / k + k));
                footPoint.Y = (float)(-1 / k * (footPoint.X - three.X) + three.Y);
            }
            return footPoint;
        }

        /// <summary>
        /// 已知直线上一点、斜率、线外一点，求垂足
        /// </summary>
        /// <param name="start">线上一点</param>
        /// <param name="k">斜率</param>
        /// <param name="three">线外一点</param>
        /// <returns></returns>
        public static PointF GetDropFeet(PointF start, double k, PointF three)
        {
            PointF footPoint = new PointF();
            if (double.IsInfinity(k) || Math.Abs(k) < 0.001) //垂线斜率不存在或斜率为0
            {
                if (k > 0)
                {
                    footPoint.X = start.X;
                    footPoint.Y = three.Y;
                }
                else if (k < 0)
                {
                    footPoint.X = start.X;
                    footPoint.Y = three.Y;
                }
                else
                {
                    footPoint.Y = start.Y;
                    footPoint.X = three.X;
                }
            }
            else
            {
                footPoint.X = (float)((k * start.X + three.X / k + three.Y - start.Y) / (1 / k + k));
                footPoint.Y = (float)(-1 / k * (footPoint.X - three.X) + three.Y);
            }
            return footPoint;
        }

        /// <summary>
        /// 三点计算角度，可能不对
        /// </summary>
        /// <param name="cen"></param>
        /// <param name="first"></param>
        /// <param name="second"></param>
        /// <returns></returns>
        public static double Angle(Point cen, Point first, Point second)
        {
            //判断象限
            int x = first.X - cen.X;
            int y = first.Y - cen.Y;
            int i = 0;
            if (x > 0 && y > 0)             //第4象限
            {
                i = 4;
            }
            else if (x > 0 && y < 0)      //第1象限
            {
                i = 1;
            }
            else if (x < 0 && y < 0)       //第2象限
            {
                i = 2;
            }
            else if (x < 0 && y > 0)          //第3象限
            {
                i = 3;
            }

            double ma_x = first.X - cen.X;
            double ma_y = first.Y - cen.Y;
            double mb_x = second.X - cen.X;
            double mb_y = second.Y - cen.Y;
            double v1 = (ma_x * mb_x) + (ma_y * mb_y);
            double ma_val = Math.Sqrt(ma_x * ma_x + ma_y * ma_y);
            double mb_val = Math.Sqrt(mb_x * mb_x + mb_y * mb_y);
            double cosM = v1 / (ma_val * mb_val);
            double angleAMB = Math.Acos(cosM) * 180 / Math.PI;

            if (i == 1) angleAMB = angleAMB - 90;
            if (i == 4) angleAMB = 90 - angleAMB;
            if (i == 3) angleAMB = angleAMB + 90;
            if (i == 2) angleAMB = 270 - angleAMB;

            return double.IsNaN(angleAMB) ? 0 : angleAMB;
        }

        public static double Angle(PointF cen, PointF first, PointF second)
        {
            //判断象限
            int x = (int)(first.X - cen.X);
            int y = (int)(first.Y - cen.Y);
            int i = 0;
            if (x > 0 && y > 0)             //第4象限
            {
                i = 4;
            }
            else if (x > 0 && y < 0)      //第1象限
            {
                i = 1;
            }
            else if (x < 0 && y < 0)       //第2象限
            {
                i = 2;
            }
            else if (x < 0 && y > 0)          //第3象限
            {
                i = 3;
            }

            double ma_x = first.X - cen.X;
            double ma_y = first.Y - cen.Y;
            double mb_x = second.X - cen.X;
            double mb_y = second.Y - cen.Y;
            double v1 = (ma_x * mb_x) + (ma_y * mb_y);
            double ma_val = Math.Sqrt(ma_x * ma_x + ma_y * ma_y);
            double mb_val = Math.Sqrt(mb_x * mb_x + mb_y * mb_y);
            double cosM = v1 / (ma_val * mb_val);
            double angleAMB = Math.Acos(cosM) * 180 / Math.PI;

            if (i == 1) angleAMB = angleAMB - 90;
            if (i == 4) angleAMB = 90 - angleAMB;
            if (i == 3) angleAMB = angleAMB + 90;
            if (i == 2) angleAMB = 270 - angleAMB;

            return double.IsNaN(angleAMB) ? 0 : angleAMB;
        }

        /// <summary>
        /// 三点计算角度，第二个写法
        /// </summary>
        /// <param name="P1X"></param>
        /// <param name="P1Y"></param>
        /// <param name="P2X"></param>
        /// <param name="P2Y"></param>
        /// <param name="P3X"></param>
        /// <param name="P3Y"></param>
        /// <returns></returns>
        public static double CalculateAngle(double P1X, double P1Y, double P2X, double P2Y,
            double P3X, double P3Y)
        {

            double numerator = P2Y * (P1X - P3X) + P1Y * (P3X - P2X) + P3Y * (P2X - P1X);
            double denominator = (P2X - P1X) * (P1X - P3X) + (P2Y - P1Y) * (P1Y - P3Y);
            double ratio = numerator / denominator;

            double angleRad = Math.Atan(ratio);
            double angleDeg = (angleRad * 180) / Math.PI;

            /*if (angleDeg < 0)
            {
                angleDeg = 180 + angleDeg;
            }*/

            /*if(angleDeg>360)
            {
                angleDeg = angleDeg - 360 * (angleDeg / 360);
            }*/

            //angleDeg = 180 - angleDeg;

            return -angleDeg;
        }

        /// <summary>
        /// 根据圆心点旋转另一个点
        /// </summary>
        /// <param name="point">圆上的点</param>
        /// <param name="center">圆心点</param>
        /// <param name="angle">旋转角度</param>
        /// <returns>返回旋转后的点的坐标</returns>
        public static Point GetAnglePoint(Point point, Point center, double angle)
        {
            Point p = new Point();
            angle = angle * Math.PI / 180;
            p.X = Convert.ToInt32((point.X - center.X) * Math.Cos(angle) - (point.Y - center.Y) * Math.Sin(angle) + center.X);
            p.Y = Convert.ToInt32((point.X - center.X) * Math.Sin(angle) + (point.Y - center.Y) * Math.Cos(angle) + center.Y);
            return p;
        }

        /// <summary>
        /// 计算夹角
        /// </summary>
        /// <param name="first">固定点</param>
        /// <param name="cen">圆心点</param>
        /// <param name="second">浮点</param>
        /// <returns>返回旋转后的点的坐标</returns>

        public static double CalculateAngle(PointF cen, PointF first, PointF second)
        {
            double ma_x = first.X - cen.X;
            double ma_y = first.Y - cen.Y;
            double mb_x = second.X - cen.X;
            double mb_y = second.Y - cen.Y;
            double v1 = (ma_x * mb_x) + (ma_y * mb_y);
            double ma_val = Math.Sqrt(ma_x * ma_x + ma_y * ma_y);
            double mb_val = Math.Sqrt(mb_x * mb_x + mb_y * mb_y);
            double cosM = v1 / (ma_val * mb_val);
            double angleAMB = Math.Acos(cosM) * 180 / Math.PI;
            if (second.Y < first.Y) angleAMB = -angleAMB;
            return angleAMB;
        }


        public static PointF GetAnglePoint(PointF point, PointF center, double angle)
        {
            PointF p = new PointF();
            angle = angle * Math.PI / 180;
            p.X = (float)((point.X - center.X) * Math.Cos(angle) - (point.Y - center.Y) * Math.Sin(angle) + center.X);
            p.Y = (float)((point.X - center.X) * Math.Sin(angle) + (point.Y - center.Y) * Math.Cos(angle) + center.Y);
            return p;
        }

        /// <summary>
        /// 计算宽高比
        /// </summary>
        /// <param name="points"></param>
        /// <returns></returns>
        public static double CalcAspectRatio(OpenCvSharp.Point[] points)
        {
            List<OpenCvSharp.Point> ps = points.ToList<OpenCvSharp.Point>();

            //最左侧的点
            int left = ps.Min<OpenCvSharp.Point>(a => a.X);
            //最右侧的点
            int right = ps.Max<OpenCvSharp.Point>(a => a.X);
            //最顶部的点
            int top = ps.Min<OpenCvSharp.Point>(a => a.Y);
            //最底部的点
            int bottom = ps.Max<OpenCvSharp.Point>(a => a.Y);

            int width = right - left;
            int height = bottom - top;
            if (width == 0 || height == 0)
                return 0;
            else
                return width * 1d / height;
        }

        /// <summary>
        /// 计算长径，找轮廓的最小外接圆
        /// </summary>
        /// <param name="points"></param>
        /// <returns></returns>
        public static double CalcLongTrail(OpenCvSharp.Point[] points)
        {
            if (points.Length < 5)
                return 0;

            OpenCvSharp.Point2f center;
            float radius = 0f;
            OpenCvSharp.Cv2.MinEnclosingCircle(points, out center, out radius);

            return radius;
            //OpenCvSharp.RotatedRect rect = OpenCvSharp.Cv2.FitEllipse(points);
            //return rect.Size.Height > rect.Size.Width ? rect.Size.Height : rect.Size.Width;
        }
        /// <summary>
        /// 保留两位小数进位
        /// </summary>
        /// <param name="value">double类型的值</param>
        /// <returns></returns>
        public static double DecimalCeiling(double value)
        {
            double values = Math.Round(value, 2);
            if (values < value)
            {
                values += Math.Pow(0.1, 2);
            }
            return values;
        }
        /// <summary>
        /// 保留两位小数不进位
        /// </summary>
        /// <param name="value">double类型的值</param>
        /// <returns></returns>
        public static double DecimalFloor(double value)
        {
            return double.Parse(value.ToString("F2"));
        }

        /// <summary>
        /// 计算长径，找轮廓的外接椭圆，计算椭圆的长径
        /// </summary>
        /// <param name="points"></param>
        /// <returns></returns>
        public static double CalcLongTrailEllipse(OpenCvSharp.Point[] points)
        {
            if (points.Length < 5)
                return 0;
            OpenCvSharp.RotatedRect rect = OpenCvSharp.Cv2.FitEllipse(points);
            return rect.Size.Height > rect.Size.Width ? rect.Size.Height : rect.Size.Width;
        }

        /// <summary>
        /// 计算曲线长度
        /// </summary>
        /// <param name="cen"></param>
        /// <param name="first"></param>
        /// <param name="second"></param>
        /// <returns></returns>
        private static double A = 4f / 14175f;
        private static int[] B = { 989, 5888, -928, 10496, -4540, 10496, -928, 5888, 989 };
        public static double curveLength(PointF[] mLeafPt)
        {
            if (mLeafPt == null || mLeafPt.Length == 1)
            {
                return 0f;
            }
            int n = mLeafPt.Length;
            PointF p0 = mLeafPt[0];
            PointF Pn = mLeafPt[n - 1];
            PointF[] tempArray = new PointF[n + 2];
            tempArray[0] = p0;
            tempArray[tempArray.Length - 1] = Pn;
            for (int i = 1; i < tempArray.Length - 1; i++)
            {
                tempArray[i] = mLeafPt[i - 1];
            }
            double a = 0f, b = 0.5f;
            double h = (b - a) / 8f;
            double length = 0f;
            for (int i = 0; i < n - 1; i++)
            {
                double integral = 0f;
                for (int j = 0; j <= 8; j++)
                {
                    double t = a + j * h;
                    double px = Px(tempArray[i].X, tempArray[i + 1].X, tempArray[i + 2].X, tempArray[i + 1].X, t);
                    double py = Px(tempArray[i].Y, tempArray[i + 1].Y, tempArray[i + 2].Y, tempArray[i + 1].Y, t);
                    double f = (double)Math.Sqrt(px * px + py * py);
                    integral += B[j] * f;
                }
                integral *= h * A;
                length += integral;
            }
            return length;
        }
        private static double Px(float p1, float p2, float p3, float p4, double t)
        {
            return (-12f * t * t + 8 * t - 1) * p1 + (36 * t * t - 20 * t) * p2 + (-36 * t * t + 16 * t + 1) * p3 + (12 * t * t - 4 * t) * p4;
        }
        /// <summary>
        /// 三点角计算
        /// </summary>
        /// <param name="cen"></param>
        /// <param name="first"></param>
        /// <param name="second"></param>
        /// <returns></returns>
        public static double AngleText(PointF cen, PointF first, PointF second)
        {
            const double M_PI = 3.1415926535897;

            double ma_x = first.X - cen.X;
            double ma_y = first.Y - cen.Y;
            double mb_x = second.X - cen.X;
            double mb_y = second.Y - cen.Y;
            double v1 = (ma_x * mb_x) + (ma_y * mb_y);
            double ma_val = Math.Sqrt(ma_x * ma_x + ma_y * ma_y);
            double mb_val = Math.Sqrt(mb_x * mb_x + mb_y * mb_y);
            double cosM = v1 / (ma_val * mb_val);
            double angleAMB = Math.Acos(cosM) * 180 / M_PI;

            return angleAMB;
        }

        ///<summary>
        ///点到直线距离
        /// </summary>
        /// <param name="point1">线上的1点</param>
        /// <param name="point2">线上的2点</param>
        /// <param name="point3">线外的点</param>
        public static double pointToLine(Point point1, Point point2, Point point3)
        {
            double space = 0;
            double a, b, c;
            a = GetDistance(point1, point2, 7);// 线段的长度    
            b = GetDistance(point1, point3, 7);// (x1,y1)到点的距离    
            c = GetDistance(point2, point3, 7);// (x2,y2)到点的距离    
            if (c <= 0.000001 || b <= 0.000001)
            {
                space = 0;
                return space;
            }
            if (a <= 0.000001)
            {
                space = b;
                return space;
            }
            if (c * c >= a * a + b * b)
            {
                space = b;
                return space;
            }
            if (b * b >= a * a + c * c)
            {
                space = c;
                return space;
            }
            double p = (a + b + c) / 2;// 半周长    
            double s = Math.Sqrt(p * (p - a) * (p - b) * (p - c));// 海伦公式求面积    
            space = 2 * s / a;// 返回点到线的距离(利用三角形面积公式求高)    
            return space;
        }

        /// <summary>
        /// 计算多边形周长
        /// </summary>
        /// <param name="Points">多边形顶点</param>
        /// <param name="digit">小数位数</param>
        /// <returns></returns>
        public static double GetPolygonPerimeter(PointF[] Points, int digit)
        {
            float x;
            float y;
            int j = 0;
            double length = 0.0;
            for (int i = 0; i < Points.Length; i++)
            {
                if (i == Points.Length - 1)
                    j = -1;
                else
                    j = i;
                x = System.Math.Abs(Points[j + 1].X - Points[i].X);
                y = System.Math.Abs(Points[j + 1].Y - Points[i].Y);
                length = length + Math.Round(Math.Sqrt(x * x + y * y), digit);
            }

            return length;
        }

        /// <summary>
        /// 计算多边形面积
        /// </summary>
        /// <param name="Points"></param>
        /// <param name="digit"></param>
        /// <returns></returns>
        public static double GetPolygonArea(List<PointF> points)
        {
            var count = points.Count;
            double area0 = 0;
            double area1 = 0;
            for (int i = 0; i < count; i++)
            {
                double x = points[i].X;
                double y = i + 1 < count ? points[i + 1].Y : points[0].Y;
                area0 += x * y;

                double lat = points[i].Y;
                double lon = i + 1 < count ? points[i + 1].X : points[0].X;
                area1 += lat * lon;
            }
            return Math.Round(Math.Abs(0.5 * (area0 - area1)), 10);

        }
        /// <summary>
        /// 计算两条直线的交点
        /// </summary>
        /// <param name="lineFirstStar">L1的点1坐标</param>
        /// <param name="lineFirstEnd">L1的点2坐标</param>
        /// <param name="lineSecondStar">L2的点1坐标</param>
        /// <param name="lineSecondEnd">L2的点2坐标</param>
        /// <returns></returns>
        public static PointF GetIntersection(PointF lineFirstStar, PointF lineFirstEnd, PointF lineSecondStar, PointF lineSecondEnd)
        {
            /*
             * L1，L2都存在斜率的情况：
             * 直线方程L1: ( y - y1 ) / ( y2 - y1 ) = ( x - x1 ) / ( x2 - x1 ) 
             * => y = [ ( y2 - y1 ) / ( x2 - x1 ) ]( x - x1 ) + y1
             * 令 a = ( y2 - y1 ) / ( x2 - x1 )
             * 有 y = a * x - a * x1 + y1   .........1
             * 直线方程L2: ( y - y3 ) / ( y4 - y3 ) = ( x - x3 ) / ( x4 - x3 )
             * 令 b = ( y4 - y3 ) / ( x4 - x3 )
             * 有 y = b * x - b * x3 + y3 ..........2
             * 
             * 如果 a = b，则两直线平等，否则， 联解方程 1,2，得:
             * x = ( a * x1 - b * x3 - y1 + y3 ) / ( a - b )
             * y = a * x - a * x1 + y1
             * 
             * L1存在斜率, L2平行Y轴的情况：
             * x = x3
             * y = a * x3 - a * x1 + y1
             * 
             * L1 平行Y轴，L2存在斜率的情况：
             * x = x1
             * y = b * x - b * x3 + y3
             * 
             * L1与L2都平行Y轴的情况：
             * 如果 x1 = x3，那么L1与L2重合，否则平等
             * 
            */
            float a = 0, b = 0;
            int state = 0;
            if (lineFirstStar.X != lineFirstEnd.X)
            {
                a = (lineFirstEnd.Y - lineFirstStar.Y) / (lineFirstEnd.X - lineFirstStar.X);
                state |= 1;
            }
            if (lineSecondStar.X != lineSecondEnd.X)
            {
                b = (lineSecondEnd.Y - lineSecondStar.Y) / (lineSecondEnd.X - lineSecondStar.X);
                state |= 2;
            }
            switch (state)
            {
                case 0: //L1与L2都平行Y轴
                    {
                        if (lineFirstStar.X == lineSecondStar.X)
                        {
                            //throw new Exception("两条直线互相重合，且平行于Y轴，无法计算交点。");
                            return new PointF(0, 0);
                        }
                        else
                        {
                            //throw new Exception("两条直线互相平行，且平行于Y轴，无法计算交点。");
                            return new PointF(0, 0);
                        }
                    }
                case 1: //L1存在斜率, L2平行Y轴
                    {
                        float x = lineSecondStar.X;
                        float y = (lineFirstStar.X - x) * (-a) + lineFirstStar.Y;
                        return new PointF(x, y);
                    }
                case 2: //L1 平行Y轴，L2存在斜率
                    {
                        float x = lineFirstStar.X;
                        //网上有相似代码的，这一处是错误的。你可以对比case 1 的逻辑 进行分析
                        //源code:lineSecondStar * x + lineSecondStar * lineSecondStar.X + p3.Y;
                        float y = (lineSecondStar.X - x) * (-b) + lineSecondStar.Y;
                        return new PointF(x, y);
                    }
                case 3: //L1，L2都存在斜率
                    {
                        if (a == b)
                        {
                            // throw new Exception("两条直线平行或重合，无法计算交点。");
                            return new PointF(0, 0);
                        }
                        float x = (a * lineFirstStar.X - b * lineSecondStar.X - lineFirstStar.Y + lineSecondStar.Y) / (a - b);
                        float y = a * x - a * lineFirstStar.X + lineFirstStar.Y;
                        return new PointF(x, y);
                    }
            }
            // throw new Exception("不可能发生的情况");
            return new PointF(0, 0);
        }

        public static List<List<OpenCvSharp.Point>> GetWholeContoursTree(OpenCvSharp.Point[][] contours, OpenCvSharp.HierarchyIndex[] hierarchyIndex, int k)
        {
            List<List<OpenCvSharp.Point>> wholeContours = new List<List<OpenCvSharp.Point>>();
            wholeContours.Add(contours[k].ToList());
            if (hierarchyIndex[k].Child > 0)
            {
                RecursionGetWholeContoursTree(wholeContours, contours, hierarchyIndex, k);
            }
            return wholeContours;
        }

        public static void RecursionGetWholeContoursTree(List<List<OpenCvSharp.Point>> wholeContours, OpenCvSharp.Point[][] contours, OpenCvSharp.HierarchyIndex[] hierarchyIndex, int k)
        {
            if (hierarchyIndex[k].Child > 0)
            {
                for (int i = 0; i < hierarchyIndex.Length; i++)
                {
                    if (hierarchyIndex[i].Parent == k)
                    {
                        wholeContours.Add(contours[i].ToList());
                        if (hierarchyIndex[i].Child > 0)
                        {
                            RecursionGetWholeContoursTree(wholeContours, contours, hierarchyIndex, i);
                        }
                    }
                }
            }
        }
    }
}