public static float[] ResizeIplTo(IplImage Face, int width, int height)
{
IplImage smallerFace =
new IplImage(new OpenCvSharp.CvSize(width, height),
Face.Depth, Face.NChannels);
Face.Resize(smallerFace, Interpolation.Linear);
unsafe
{
byte* smallFaceData = smallerFace.ImageDataPtr;
float[] currentFace = new float[width * height * smallerFace.NChannels * BytesPerPixel(Face.Depth)];
for (int i = 0; i < smallerFace.Height; i++)
{
for (int j = 0; j < smallerFace.Width; j++)
{
currentFace[i * smallerFace.WidthStep + j] =
(float)smallFaceData[i * smallerFace.WidthStep + j];
}
}
smallerFace.Dispose();
return currentFace;
}
}
/// <summary>
/// 指定した分割数でそろばんを全て読み取る
/// </summary>
/// <param name="source">そろばんの画像</param>
/// <param name="threshold">しきい値</param>
/// <param name="process_img">処理画像</param>
/// <returns>読み取った数値(-1はエラー)</returns>
public int[] AllMatching(IplImage source, double threshold, out IplImage process_img)
{
// グレースケール画像
IplImage cap_gray = new IplImage(PROCESS_SIZE, BitDepth.U8, 1);
// キャプチャとリサイズ，グレースケール変換
using (IplImage tmp = new IplImage(
PROCESS_SIZE, source.Depth, source.NChannels))
{
source.Resize(tmp);
tmp.CvtColor(cap_gray, ColorConversion.BgrToGray);
}
int[] results = new int[DIVIDE_NUM];
int width = cap_gray.Width / (DIVIDE_NUM + 1);
int margin = (int)(width * DIVIDE_MARGIN);
// 領域ごとに処理
Parallel.For(0, DIVIDE_NUM, i =>
{
IplImage tmp = new IplImage(PROCESS_SIZE, BitDepth.U8, 1);
cap_gray.Copy(tmp);
int x = (i + 1) * width - width / 2;
// 領域を指定
CvRect rect = new CvRect(x - margin, 0, width + margin * 2, PROCESS_SIZE.Height);
tmp.SetROI(rect);
// 0-9の画像とMatchTemplateし一番高い値を得る
results[i] = bestMatchNum(tmp, this.templates[i], threshold);
// 領域の指定を解除
tmp.ResetROI();
});
// 分割線の描画
for (int i = 1; i < DIVIDE_NUM + 2; i++)
{
int x = i * width - width / 2;
cap_gray.Line(x, 0, x, PROCESS_SIZE.Height, CvColor.White);
}
// 読み取り数値を表示
CvFont font = new CvFont(FontFace.HersheyDuplex, 1.0, 1.0);
for (int i = 0; i < DIVIDE_NUM; i++)
{
if (results[i] != -1)
{
int x = i * width + width / 2;
cap_gray.PutText(results[i].ToString(), new CvPoint(x, 30),
font, CvColor.White);
}
}
// 分割線, 読み取り数値画像を返す
process_img = cap_gray;
return results;
}
static void Main(string[] args)
{
double brightMinVal = 0, brightMaxVal = 0;
CvPoint brightMinLoc, brightMaxLoc;
IplImage image5, image4, image3, image2, image1, image0, totalImage, output;
CvSize size, resize;
image5 = Cv.LoadImage("C:\\Summer14\\Top Layer\\Camera_5_bmp\\Oct-28-12-14-26_773008-000005-109990.bmp", LoadMode.GrayScale);
image4 = Cv.LoadImage("C:\\Summer14\\Top Layer\\Camera_4_bmp\\Oct-28-12-14-26_773008-000004-109990.bmp", LoadMode.GrayScale);
image3 = Cv.LoadImage("C:\\Summer14\\Top Layer\\Camera_3_bmp\\Oct-28-12-14-26_773008-000003-109990.bmp", LoadMode.GrayScale);
image2 = Cv.LoadImage("C:\\Summer14\\Top Layer\\Camera_2_bmp\\Oct-28-12-14-26_773008-000002-109990.bmp", LoadMode.GrayScale);
image1 = Cv.LoadImage("C:\\Summer14\\Top Layer\\Camera_1_bmp\\Oct-28-12-14-26_773008-000001-109990.bmp", LoadMode.GrayScale);
image0 = Cv.LoadImage("C:\\Summer14\\Top Layer\\Camera_0_bmp\\Oct-28-12-14-26_773008-000000-109990.bmp", LoadMode.GrayScale);
size = new CvSize(image1.Width * 3, image1.Height * 2);
totalImage = new IplImage(size, image1.Depth, image1.NChannels);
//****************MAKING IMAGE 5 BRIGHTER
Cv.MinMaxLoc(image5, out brightMinVal, out brightMaxVal, out brightMinLoc, out brightMaxLoc);
double scale = 2.9;//255/85 or 2.9
double shift = -brightMinVal * scale;
Cv.ConvertScale(image5, image5, scale, shift);
//***************END MAKING IMAGE 5 BRIGHTER
//***************STITCHING THE 6 CAMERA VIEWS TOGETHER
for (int i = 0; i < image3.Height; i++)// i: vertical
for (int j = 60; j < image3.Width; j++)
totalImage[i, j - 60] = image3[i, j];
//******************************
for (int i = image2.Height - 74; i < totalImage.Height - 74; i++)
{
for (int j = 0; j < image2.Width - 50; j++)
{
totalImage[i - 74, j] = image2[x, j + 50];
}
x++;
}
x = 0;
for (int i = 0; i < image1.Height; i++)
{
for (int j = image3.Width - 60; j < (totalImage.Width - image3.Width) - 200; j++)//60,200
{
totalImage[i, j - 60] = image1[i, x];
x++;
}
x = 0;
}
x = 0;
int k = 0;
//*******************************
for (int i = image1.Height - 110; i < totalImage.Height - 110; i++)//120
{
for (int j = image2.Width - 95; j < (totalImage.Width - image2.Width) - 300; j++)//95,300
{
totalImage[i - 74, j] = image0[k, x];
x++;
}
x = 0;
k++;
}
x = 0;
k = 0;
//*******************************
for (int i = 0; i < image5.Height - 70; i++)
{
for (int j = (image3.Width + image1.Width)-200; j < totalImage.Width-200; j++)//200,200
{
totalImage[i, j - 130] = image5[i + 70, x];
x++;
}
x = 0;
}
x = 0;
//********************************
for (int i = image5.Height - 170; i < totalImage.Height - 170; i++)
{
for (int j = (image2.Width + image0.Width) - 300; j < totalImage.Width - 300; j++)//300
{
totalImage[i, j] = image4[k, x];
x++;
}
x = 0;
k++;
}
//******************END STITCHING THE 6 CAMERA VIEWS TOGETHER
resize = new CvSize(totalImage.Width / 12, totalImage.Height / 12);
output = new IplImage(resize, totalImage.Depth, totalImage.NChannels);
totalImage.Resize(output);
//**************IMPORTANT SAVE!!!!!!!!!
output.SaveImage("C:\\OpenCvSharp\\FallProgram2LessOverlap\\NewMosaic.bmp");//Saves the scaled down version.
totalImage.SaveImage("C:\\OpenCvSharp\\FallProgram2LessOverlap\\TrueSizedMosaic.bmp");//Saves the original size
//*************END IMPORTANT SAVE!!!!!!!!
Cv.NamedWindow("Output", WindowMode.AutoSize);
Cv.ShowImage("Output", output);
Cv.WaitKey(0);
}
static void Main(string[] args)
{
Stopwatch timer = new Stopwatch();
IplImage bestMatch = new IplImage();
CvMat mapMatrix;
CvPoint2D32f center;
double[] maxArray = new double[8];
int numberOfFiles = 50;//Can change the number of input files if I want
double angle = 0.0, scale = 1.0, bestAngle = 0.0;
mapMatrix = new CvMat(2, 3, MatrixType.F32C1);
while (fileReader < numberOfFiles)//Number of files to read in folder
{
uavSourceImg = new IplImage("C:\\OpenCvSharp\\SummerPractice13RotateAndScale4DataInfo2\\Testing Different UAV Inputs\\RenameFolder\\Kamien " + fileReader + ".bmp", LoadMode.AnyColor);
tempImg = new IplImage("C:\\OpenCvSharp\\SummerPractice1\\SummerDatabase\\BigGoogleTemplate2.jpg", LoadMode.AnyColor);//Big template test
CvRect drawRectangle = new CvRect(200, 200, 300, 300);
timer.Start();
while (angle < 15.0)//Angle change while loop. Can change if necessary
{
while (i < 10)//Scaling while loop. Can change this if necessary.
{
//***********************DECLARATION
//tempImg = theBigTemplate.GetSubImage(drawRectangle);
CvSize destSize;
graySource = new IplImage(uavSourceImg.Size, BitDepth.U8, 1);
grayTemp = new IplImage(tempImg.Size, BitDepth.U8, 1);
tempDestImg = new IplImage(grayTemp.Size, BitDepth.U8, 1);
double minValue, maxValue;
CvPoint minLoc, maxLoc;
//**********************END DECLARATIONS
//**********************CONVERT TO GRAY
uavSourceImg.CvtColor(graySource, ColorConversion.BgrToGray);
tempImg.CvtColor(grayTemp, ColorConversion.BgrToGray);
//**********************END CONVERT TO GRAY
//**********************ROTATION
center = new CvPoint2D32f(grayTemp.Width * 0.5, grayTemp.Height * 0.5);
grayTemp.Copy(tempDestImg);
Cv._2DRotationMatrix(center, angle, scale, out mapMatrix);
Cv.WarpAffine(grayTemp, tempDestImg, mapMatrix, Interpolation.FillOutliers, Cv.ScalarAll(255));
//**********************END ROTATION
theRotatedSubTemp = tempDestImg.GetSubImage(drawRectangle);
//**********************RESIZE PART
CvSize size = new CvSize(graySource.Width / i, graySource.Height / i);//Manipulate the source image size
CvSize size2 = new CvSize(theRotatedSubTemp.Width / i, theRotatedSubTemp.Height / i);//theRotatedSubTemp test
graySourceHolder = new IplImage(size, BitDepth.U8, 1);//1 for grayholder ORIGINAL
grayTempHolder = new IplImage(size2, BitDepth.U8, 1);
graySource.Resize(graySourceHolder);//ORIGINAL(resize the grayscale source image before template matching)
theRotatedSubTemp.Resize(grayTempHolder);//TEST theRotatedSubTemp
//*********************END RESIZE PART
//*********************TEMPLATE MATCHING PART
destSize = new CvSize(graySourceHolder.Width - grayTempHolder.Width + 1, graySourceHolder.Height - grayTempHolder.Height + 1);
//TEST RESIZE BEFORE WITH RESIZED TEMPLATE
resizeDestImg = new IplImage(destSize, BitDepth.F32, 1);
graySourceHolder.MatchTemplate(grayTempHolder, resizeDestImg, MatchTemplateMethod.CCoeffNormed);
resizeDestImg.MinMaxLoc(out minValue, out maxValue, out minLoc, out maxLoc);
graySourceHolder.Rectangle(maxLoc.X, maxLoc.Y, maxLoc.X + grayTempHolder.Width, maxLoc.Y + grayTempHolder.Height, CvColor.Red, 3);//Testing resize before with resized template
//********************END TEMPLATE MATCHING PART
Console.WriteLine("Divided by {0}, there was a {1} percent match", i, maxValue);
if (maxValue > theBestMax)
{
theBestMax = maxValue;
bestMatch = graySourceHolder.Clone();
bestAngle = angle;
iHolder = i;
}
Cv.NamedWindow("Rotating Template", WindowMode.AutoSize);
Cv.NamedWindow("Sub Template", WindowMode.AutoSize);
Cv.ShowImage("Rotating Template", tempDestImg);
Cv.ShowImage("Sub Template", theRotatedSubTemp);
//Cv.WaitKey(0);
Cv.WaitKey(1);
i++;
Cv.ReleaseData(graySourceHolder);
Cv.ReleaseData(grayTempHolder);
Cv.ReleaseData(tempDestImg);
Cv.ReleaseData(graySource);
Cv.ReleaseData(grayTemp);
Cv.ReleaseData(resizeDestImg);
Cv.ReleaseData(theRotatedSubTemp);//Added for big template test
}//End 3rd Inner while loop
angle += 1.5;
//This changes the angle tilt of the template. Can change if necessary.
i = 1;//This changes the scale divider. Can change if necessary.
Console.WriteLine("***************************************SHIFTING TEMPLATE\n");
//Cv.DestroyAllWindows();
}//End 2nd Inner while loop
//***************SHOWING RESULT INFO
timer.Stop();
//This section writes the results to a text file
using (System.IO.StreamWriter file = new System.IO.StreamWriter(@"C:\\OpenCvSharp\\SummerPractice12RotateAndScale3DataInfo\\Data Info Folder\\Best Match Data.txt", true))
{
file.WriteLine("{0}\t{1}\t\t{2}\t1/{3}", timer.ElapsedMilliseconds, theBestMax.ToString("#.###"), bestAngle, iHolder);
}
Console.WriteLine("---------RESULTS");
//*************END SHOWING RESULT INFO
//*************IMPORTANT SAVES
bestMatch.SaveImage("C:\\OpenCvSharp\\SummerPractice12RotateAndScale3DataInfo\\Data Info Folder\\Best Match" + fileReader.ToString() + ".jpg");
Console.WriteLine("ITEM SAVED IN DATA INFO FOLDER!");
//*************END IMPORTANT SAVES
Cv.WaitKey(1);
fileReader++;
theBestMax = double.MinValue;
iHolder = int.MinValue;
bestAngle = double.MinValue;
angle = 0.0;
i = 1;
Cv.ReleaseData(bestMatch);//TEST
if(fileReader < numberOfFiles)
Console.WriteLine("Switching Input...");
}//End while loop
}
static void Main(string[] args)
{
Stopwatch timer = new Stopwatch(),timer2 = new Stopwatch();
IplImage topLayer, smallerTop, uavLayer, smallerUAV, uavTemplate, destImg;
CvPoint minLoc, maxLoc, brightMinLoc, brightMaxLoc;
double minValue, maxValue, bestMatch = 0;
CvSize makeTopSmaller, makeUAVSmaller, destSize;//scale originalSize x 12
//CvRect uavRect;
CvMat mapMatrix;
CvPoint2D32f center;
StreamWriter writer2 = new StreamWriter
(@"C:\\OpenCvSharp\\FallProgram5TopLayerTimeMeasure\\Top Layer Measure.txt");
double angle = 0.0, scale = 1.0, topScale = 0.09,
bestScale = 0, bestAngle = 0, brightMinVal = 0, brightMaxVal = 0;
topLayer = new IplImage("C:\\OpenCvSharp\\FallProgram5TopLayerTimeMeasure\\TrueSizedMosaic.bmp", LoadMode.GrayScale);
uavLayer = new IplImage("C:\\Summer14\\EO_Run07_s7_301_16_00_51_278385\\Oct-28-12-00-57_523977-Frame-30.bmp", LoadMode.GrayScale);
//************************Brighten input image section
Cv.MinMaxLoc(topLayer, out brightMinVal, out brightMaxVal, out brightMinLoc, out brightMaxLoc);
double brightScale = 255 / 70;//90 smaller denominator makes it brighter
double brightShift = -brightMinVal * brightScale;
Cv.ConvertScale(topLayer, topLayer, brightScale, brightShift);
timer.Start();
//************************End brighten section
while (topScale > 0.06)
{
/*****************Manipulate the size of top layer and uav*/
makeTopSmaller = new CvSize((int)(topLayer.Width * topScale), (int)(topLayer.Height * topScale));
//make top layer original size x0.07
makeUAVSmaller = new CvSize((int)(uavLayer.Width * .08), (int)(topLayer.Height * .03));
//***************************************
while (angle > -361.0)
{
//*********************************
/*PART 1 This section makes the top layer and uav layer smaller*/
smallerTop = new IplImage(makeTopSmaller, topLayer.Depth, topLayer.NChannels);//Make the top layer smaller
smallerUAV = new IplImage(makeUAVSmaller, uavLayer.Depth, uavLayer.NChannels);//Make the uav layer smaller
topLayer.Resize(smallerTop);//Resize the top Layer
uavLayer.Resize(smallerUAV);//Resize the uav Layer
//*******************END 1
//******************Part 2 ROTATING SECTION
mapMatrix = new CvMat(2, 3, MatrixType.F32C1);
center = new CvPoint2D32f(smallerUAV.Width * 0.5, smallerUAV.Height * 0.5);
Cv._2DRotationMatrix(center, angle, scale, out mapMatrix);
Cv.WarpAffine(smallerUAV, smallerUAV, mapMatrix, Interpolation.Linear, Cv.ScalarAll(255));
angle -= 0.1;
//***********************END 2
//***********************PART 3 This section handles getting the template
uavRect = new CvRect((smallerUAV.Width / 2) - 75, (smallerUAV.Height / 2) - 75, 150, 150);//200x200
smallerUAV.Rectangle(uavRect, CvColor.Red, 2);
uavTemplate = smallerUAV.GetSubImage(uavRect);
//**********************END 3
//**********************PART 4 This is where template matching begins
destSize = new CvSize(smallerTop.Width - uavTemplate.Width + 1, smallerTop.Height - uavTemplate.Height + 1);
destImg = new IplImage(destSize, BitDepth.F32, 1);
//Recording the time on each step
timer2.Start();
smallerTop.MatchTemplate(uavTemplate, destImg, MatchTemplateMethod.CCoeffNormed);
timer2.Stop();
writer2.WriteLine("{0} {1} {2}",topScale,counter, timer2.ElapsedMilliseconds);//scale multiplier,scale count, time
timer2.Reset();
counter++;
//End section
destImg.MinMaxLoc(out minValue, out maxValue, out minLoc, out maxLoc);
smallerTop.Rectangle(maxLoc.X, maxLoc.Y, maxLoc.X + uavTemplate.Width, maxLoc.Y + uavTemplate.Height, CvColor.Red, 3);
//*******Records best match
if (maxValue > bestMatch)
{
x = maxLoc.X;
y = maxLoc.Y;
bestAngle = angle;
bestScale = topScale;
bestMatch = maxValue;
bestTopLayer = new IplImage(makeTopSmaller, smallerTop.Depth, smallerTop.NChannels);//decaration for the best match
smallerTop.Copy(bestTopLayer);
Console.WriteLine("New best match: {0}", bestMatch);
//******IMPORTANT SAVE!!!
uavTemplate.SaveImage("C:\\OpenCvSharp\\SummerPractice24UAVTrack3\\Used Template.bmp");
//******END IMPORTANT SAVE!!!
}
//*******End Record Best Match
//*******Output test
Cv.ShowImage("Top Layer", smallerTop);
Cv.ShowImage("smaller uav", smallerUAV);
Cv.ShowImage("Template", uavTemplate);
Cv.WaitKey(1);
//*******End Output test
//*****************END 4
Cv.ReleaseData(smallerTop);
Cv.ReleaseData(smallerUAV);
Cv.ReleaseData(uavTemplate);
Cv.ReleaseData(destImg);
}//End Inner While loop
angle = 0.0;
topScale -= 0.01;
Console.WriteLine("Scaling top layer down.....");
counter = 0;
}//End While loop
timer.Stop();
using (System.IO.StreamWriter writer = new System.IO.StreamWriter
(@"C:\\OpenCvSharp\\FallProgram5TopLayerTimeMeasure\\Total Top Measure.txt", true))
{
writer.WriteLine
("{0}\t{1}\t\t{2}\t{3}\t{4}", timer.ElapsedMilliseconds, bestMatch.ToString("#.###"),
bestAngle.ToString("###.#"), bestScale.ToString(), "(X: " + x.ToString() + ", Y: " + y.ToString() + ")");
}
//**********************IMPORTANT SAVE!!!
bestTopLayer.SaveImage("C:\\OpenCvSharp\\FallProgram5TopLayerTimeMeasure\\TL Match Image.bmp");
//**********************END IMPORTANT SAVE!!!
Cv.ShowImage("The Best Match", bestTopLayer);
Cv.WaitKey(0);
}
