public void trackImgs()
{
long matchTime = 0;
float X_center, Y_center;
float theta;
Image <Gray, byte> modelImg;
Image <Gray, byte> observedImg;
modelImg = new Image <Gray, byte>((Bitmap)Image.FromFile(modelPanelImg));
observedImg = new Image <Gray, byte>((Bitmap)Image.FromFile(previewPanelImg));
Mat result = SURFFeatureExample.DrawMatches.Draw(modelImg.Mat, observedImg.Mat, out matchTime, out X_center, out Y_center, out theta);
previewPanel.BackgroundImage = (Bitmap)result.Bitmap;
this.Invoke(new MethodInvoker(delegate()
{
if (previewPanel.BackgroundImage != null)
{
dataGridView1.Rows[0].Cells[0].Value = matchTime.ToString("F") + "ms";
dataGridView1.Rows[0].Cells[1].Value = X_center.ToString();
dataGridView1.Rows[0].Cells[2].Value = Y_center.ToString();
dataGridView1.Rows[0].Cells[3].Value = theta.ToString();
}
}));
}
private void TrackObject_NewFrame(object sender, NewFrameEventArgs eventArgs)
{
long matchTime = 0;
float X_center, Y_center;
float theta;
Image <Gray, byte> modelImg;
Image <Gray, byte> observedImg;
//VectorOfKeyPoint modelKeyPoints = new VectorOfKeyPoint(), observedKeyPoints = new VectorOfKeyPoint();
//VectorOfVectorOfDMatch matches = new VectorOfVectorOfDMatch();
//Mat mask = new Mat(), homography = new Mat();
modelImg = new Image <Gray, byte>((Bitmap)ModelPreview.BackgroundImage);
observedImg = new Image <Gray, byte>((Bitmap)eventArgs.Frame.Clone());
Mat result = SURFFeatureExample.DrawMatches.Draw(modelImg.Mat, observedImg.Mat, out matchTime, out X_center, out Y_center, out theta);
previewPanel.BackgroundImage = (Bitmap)result.Bitmap;
this.Invoke(new MethodInvoker(delegate()
{
if (previewPanel.BackgroundImage != null)
{
dataGridView1.Rows[0].Cells[0].Value = matchTime.ToString("F") + "ms";
dataGridView1.Rows[0].Cells[1].Value = X_center.ToString();
dataGridView1.Rows[0].Cells[2].Value = Y_center.ToString();
dataGridView1.Rows[0].Cells[3].Value = theta.ToString();
}
}));
selectedCamera.videoSource.NewFrame -= new NewFrameEventHandler(TrackObject_NewFrame);
/*
* System.Drawing.Image SRCimage = (Bitmap)eventArgs.Frame.Clone();
* Bitmap SRCbmpImage = new Bitmap(SRCimage);
* Image<Bgr, byte> source = new Image<Bgr, byte>(SRCbmpImage);
*
* System.Drawing.Image TMPimage = (Bitmap)ModelPreview.BackgroundImage;
* Bitmap TMPbmpImage = new Bitmap(TMPimage);
* Image<Bgr, byte> template = new Image<Bgr, byte>(TMPbmpImage);
*
* Image<Gray, float> result = source.MatchTemplate(template, Emgu.CV.CvEnum.TemplateMatchingType.CcoeffNormed);
*
* double[] minValues, maxValues;
* Point[] minLocations, maxLocations;
* result.MinMax(out minValues, out maxValues, out minLocations, out maxLocations);
*
* if ((maxValues[0] * 100) >= (double)accuracyThreshold.Value)
* {
* Rectangle rect = new Rectangle(maxLocations[0], template.Size);
* Graphics graphic = Graphics.FromImage(SRCimage);
* Pen pen = new Pen(Color.Green, 2);
*
* graphic.DrawRectangle(pen, rect);
*
* this.Invoke(new MethodInvoker(delegate ()
* {
* if (previewPanel.BackgroundImage != null)
* {
* previewPanel.BackgroundImage.Dispose();
* }
*
* // Update the form with relevant data
* previewPanel.BackgroundImage = SRCimage;
* dataGridView1.Rows[0].Cells[0].Value = (maxValues[0] * 100).ToString("F") + "%";
* }));
* }else
*
* if ((maxValues[0] * 100) >= (double)accuracyThreshold.Value - 10)
* {
* Rectangle rect = new Rectangle(maxLocations[0], template.Size);
* Graphics graphic = Graphics.FromImage(SRCimage);
* Pen pen = new Pen(Color.Blue, 2);
*
* graphic.DrawRectangle(pen, rect);
*
* this.Invoke(new MethodInvoker(delegate ()
* {
* if (previewPanel.BackgroundImage != null)
* {
* previewPanel.BackgroundImage.Dispose();
* }
*
* // Update the form with relevant data
* previewPanel.BackgroundImage = SRCimage;
* dataGridView1.Rows[0].Cells[0].Value = (maxValues[0] * 100).ToString("F") + "%";
* }));
* }
* else
* {
* this.Invoke(new MethodInvoker(delegate ()
* {
* if (previewPanel.BackgroundImage != null)
* {
* previewPanel.BackgroundImage.Dispose();
* }
*
* // Update the form with relevant data
* previewPanel.BackgroundImage = SRCimage;
* dataGridView1.Rows[0].Cells[0].Value = (maxValues[0] * 100).ToString("F") + "%";
* }));
* }
*/
}
