else if (pDoc.RunCamera1 && data.Tool == "Khiem" || data.Tool == "Khiem" && nowStep <= pDoc.CurrentStep[0])

                        {

                            string[] parts = data.Spec.Split(',');

                            if (parts.Length >= 1)

                            {

                                if (parts[0] == "Original")

                                    Src = inputImage.Clone();

                                else if (parts[0] == "Beforehand")

                                    Src = outputImage.Clone();

                                else

                                    Src = LoadImageRegions(parts[0]);

​

                                // 1. Lấy màu nền

                                Vec3b bgPixel = Src.At<Vec3b>(0, 0);

                                Scalar baseColor = new Scalar(bgPixel.Item0, bgPixel.Item1, bgPixel.Item2);

                                int delta = 25;

                                Scalar lower = new Scalar(

                                    Math.Max(baseColor.Val0 - delta, 0),

                                    Math.Max(baseColor.Val1 - delta, 0),

                                    Math.Max(baseColor.Val2 - delta, 0)

                                );

                                Scalar upper = new Scalar(

                                    Math.Min(baseColor.Val0 + delta, 255),

                                    Math.Min(baseColor.Val1 + delta, 255),

                                    Math.Min(baseColor.Val2 + delta, 255)

                                );

​

                                // 2. Mask nền + xử lý góc

                                Mat mask = new Mat();

                                Cv2.InRange(Src, lower, upper, mask);

                                foreach (var rect in new[]

                                {

            new Rect(0, 0, 100, 100),

            new Rect(Src.Cols - 100, 0, 100, 100),

            new Rect(0, Src.Rows - 100, 100, 100),

            new Rect(Src.Cols - 100, Src.Rows - 100, 100, 100)

        })

                                {

                                    Cv2.Rectangle(mask, rect, new Scalar(255), -1);

                                }

                                Cv2.BitwiseNot(mask, mask);

                                Cv2.CvtColor(mask, Src, ColorConversionCodes.GRAY2BGR);

​

                                // 3. Tìm contour

                                Point[][] contours;

                                HierarchyIndex[] hierarchy;

                                Cv2.FindContours(mask, out contours, out hierarchy, RetrievalModes.External, ContourApproximationModes.ApproxSimple);

​

                                var sortedContours = contours

                                    .Select(c => new { contour = c, area = Cv2.ContourArea(c), rect = Cv2.BoundingRect(c) })

                                    .Where(c => c.area > 100)

                                    .OrderByDescending(c => c.area)

                                    .Take(10)

                                    .ToList();

​

                                // 4. Vẽ đường viền các vật

                                int idx = 1;

                                foreach (var item in sortedContours)

                                {

                                    Cv2.DrawContours(Src, new[] { item.contour }, -1, new Scalar(0, 255, 0), 4);

                                    Cv2.PutText(Src, $"#{idx++}", new Point(item.rect.X, item.rect.Y - 10), HersheyFonts.HersheySimplex, 1.0, Scalar.Red, 2);

                                }

​

                                // 5. So sánh hình dạng 2 vật

                                bool foundShapeMatch = false;

                                for (int i = 0; i < sortedContours.Count; i++)

                                {

                                    for (int j = i + 1; j < sortedContours.Count; j++)

                                    {

                                        var c1 = sortedContours[i].contour;

                                        var c2 = sortedContours[j].contour;

​

                                        double score = Cv2.MatchShapes(c1, c2, ShapeMatchModes.I1, 0);

​

                                        if (score < 0.15)

                                        {

                                            // Đánh dấu hình chữ nhật màu vàng

                                            Cv2.Rectangle(Src, sortedContours[i].rect, new Scalar(0, 255, 255), 6);

                                            Cv2.Rectangle(Src, sortedContours[j].rect, new Scalar(0, 255, 255), 6);

                                            foundShapeMatch = true;

                                            break;

                                        }

                                    }

                                    if (foundShapeMatch) break;

                                }

​

                                outputImage = Src.Clone();

                                pDoc.ChuoiGuiClient1 = "OK"; // gửi về client

​

                                Console.WriteLine($"[Khiem] Found contours: {contours.Length} | Matching shape: {foundShapeMatch}");

                            }

                        }