public MainWindow()
{
InitializeComponent();
workerThread.Start();
var faceTrackingViewerBinding = new Binding("Kinect") { Source = sensorChooser };
faceTrackingViewer.SetBinding(FaceTrackingViewer.KinectProperty, faceTrackingViewerBinding);
this.InitializeComponent();
plate = new ObjectDetectee("aug2.jpg");
//objectImage = new Image<Gray, byte>("aug.jpg");
waiter = new ObjectDetectee("aug.jpg", 5000, 3);
glass = new ObjectDetectee("glass3.jpg");
sensorChooser.KinectChanged += SensorChooserOnKinectChanged;
sensorChooser.Start();
}
public static Boolean Detect(ObjectDetectee observedScene, ObjectDetectee obj)
{
HomographyMatrix homography = null;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
int testsPassed = 0;
// extract features from the observed image
observedKeyPoints = observedScene.objectKeyPoints;
Matrix<float> observedDescriptors = observedScene.objectDescriptors;
BruteForceMatcher<float> matcher = new BruteForceMatcher<float>(DistanceType.L2);
matcher.Add(obj.objectDescriptors);
if (observedDescriptors == null)
{
return false;
}
indices = new Matrix<int>(observedDescriptors.Rows, k);
using (Matrix<float> dist = new Matrix<float>(observedDescriptors.Rows, k))
{
matcher.KnnMatch(observedDescriptors, indices, dist, k, null);
mask = new Matrix<byte>(dist.Rows, 1);
mask.SetValue(255);
Features2DToolbox.VoteForUniqueness(dist, uniquenessThreshold, mask);
}
int nonZero = 0;
int nonZeroCount = CvInvoke.cvCountNonZero(mask);
if (nonZeroCount >= 4)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(obj.objectKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
if (nonZeroCount >= 4)
{
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(obj.objectKeyPoints, observedKeyPoints, indices, mask, 2);
for (int i = 0; i < mask.Height; i++)
{
for (int j = 0; j < mask.Width; j++)
{
if (mask[i, j] != 0)
{
nonZero++;
}
}
}
if (nonZero > 4)
{
testsPassed++;
}
}
}
if (homography != null)
{
//draw a rectangle along the projected model
Rectangle rect = obj.objectImage.ROI;
PointF[] pts = new PointF[] {
new PointF(rect.Left, rect.Bottom),
new PointF(rect.Right, rect.Bottom),
new PointF(rect.Right, rect.Top),
new PointF(rect.Left, rect.Top)};
using (MemStorage m1 = new MemStorage())
using (MemStorage m2 = new MemStorage())
{
Contour<PointF> objPoly = new Contour<PointF>(m1);
Contour<PointF> scenePoly = new Contour<PointF>(m2);
pts.OrderBy(p => p.X).ThenBy(p => p.Y);
foreach (PointF i in pts)
{
objPoly.Push(i);
}
homography.ProjectPoints(pts);
pts.OrderBy(p => p.X).ThenBy(p => p.Y);
foreach (PointF i in pts)
{
scenePoly.Push(i);
}
double shapeMatch = CvInvoke.cvMatchShapes(objPoly, scenePoly, Emgu.CV.CvEnum.CONTOURS_MATCH_TYPE.CV_CONTOURS_MATCH_I3, 0);
double ratio = scenePoly.Area / objPoly.Area;
foreach (PointF i in pts)
{
if (i.X < 0 || i.Y < 0)
{
return false;
}
}
if (shapeMatch != 0 && shapeMatch <= 2)
{
testsPassed++;
}
if (ratio > 0.001 && ratio < 5.25)
{
testsPassed++;
}
if (!(Math.Abs(homography.Data[2, 0]) > .005 && Math.Abs(homography.Data[2, 1]) > .005))
{
testsPassed++;
}
if (testsPassed >= 2)
{
return true;
}
else
{
return false;
}
}
}
else
{
return false;
}
}
private static void MatcherThread()
{
Stopwatch watch = new Stopwatch();
watch.Start();
while (true)
{
autoEvent.WaitOne();
mut.WaitOne();
thread_working = true;
mut.ReleaseMutex();
long test;
watch.Start();
ObjectDetectee scene = new ObjectDetectee(sceneImage);
if (ObjectMatcher.Detect(scene, plate))
{
if (plate.reportSeen(watch.ElapsedMilliseconds))
{
watch.Stop();
WebApplication2.Controller.emptyPlate(1, 1);
watch.Start();
}
}
if (ObjectMatcher.Detect(scene, glass))
{
if (waiter.reportSeen(watch.ElapsedMilliseconds))
{
watch.Stop();
WebApplication2.Controller.emptyDrink(1, 1);
watch.Start();
}
}
if (ObjectMatcher.Detect(scene, waiter))
{
if (waiter.reportSeen(watch.ElapsedMilliseconds))
{
watch.Stop();
WebApplication2.Controller.waiterCalled(1, 1);
watch.Start();
}
}
mut.WaitOne();
thread_working = false;
mut.ReleaseMutex();
}
}
