private IplImage FeatureDetector(Bitmap bitmapIn)
{
double minVal, maxVal;
IplImage i1 = BitmapConverter.ToIplImage(bitmapIn);
IplImage gray = new IplImage(new OpenCvSharp.CvSize(i1.Size.Width, i1.Size.Height), BitDepth.U8, 1);
IplImage blur = new IplImage(new OpenCvSharp.CvSize(i1.Size.Width, i1.Size.Height), BitDepth.U8, 1);
IplImage gaussian = new IplImage(new OpenCvSharp.CvSize(i1.Size.Width, i1.Size.Height), BitDepth.U8, 1);
IplImage laplace = new IplImage(new OpenCvSharp.CvSize(i1.Size.Width, i1.Size.Height), BitDepth.F32, gaussian.NChannels);
IplImage converted = new IplImage(new OpenCvSharp.CvSize(i1.Size.Width, i1.Size.Height), BitDepth.U8, 1);
IplImage normalized = new IplImage(new OpenCvSharp.CvSize(i1.Size.Width, i1.Size.Height), BitDepth.U8, 1);
IplImage tresh = new IplImage(new OpenCvSharp.CvSize(i1.Size.Width, i1.Size.Height), BitDepth.U8, 1);
OpenCvSharp.Cv.CvtColor(i1, gray, ColorConversion.RgbToGray);
OpenCvSharp.Cv.Normalize(gray, normalized, 0.0, 255.0, NormType.MinMax);
OpenCvSharp.Cv.Smooth(normalized, blur, SmoothType.Median, 5, 5);
OpenCvSharp.Cv.Smooth(blur, gaussian, SmoothType.Gaussian, 5, 5);
OpenCvSharp.Cv.Laplace(gaussian, laplace, ApertureSize.Size5);
laplace.MinMaxLoc(out minVal, out maxVal);
laplace.ConvertScale(converted, 255.0 / (2.0 * maxVal), 128);
OpenCvSharp.Cv.Threshold(converted, tresh, 150.0, 255.0, ThresholdType.Binary);
return tresh;
}
private static int bestMatchNum(IplImage source, IplImage[] temp_num, double threshold)
{
CvSize size = new CvSize(
source.GetROI().Width - temp_num[0].Width + 1,
source.GetROI().Height - temp_num[0].Height + 1);
// 0から9の一致度
double[] max_list = new double[10];
// 0-9の画像とマッチング
Parallel.For(0, 10, i =>
{
IplImage result = new IplImage(size, BitDepth.F32, 1);
source.MatchTemplate(temp_num[i], result,
MatchTemplateMethod.CCoeffNormed);
double min;
CvPoint min_point, max_point;
result.MinMaxLoc(out min, out max_list[i], out min_point, out max_point);
});
// 一致度が最大のものを探す
double best = 0.0;
int best_index = -1;
for (int i = 0; i < 10; i++)
{
double tmp = max_list[i];
if (tmp > best)
{
best = tmp;
best_index = i;
}
}
// しきい値以下の精度であれば切り捨て
if (best < threshold) return -1;
return best_index;
}
static void Main(string[] args)
{
CvFont font;
Cv.InitFont(out font, FontFace.HersheyComplex, 0.5, 0.5);//.7 .7
file.WriteLine("Match Time Per Frame");
//*******************INPUT PATH SECTION
using (CvCapture capture = CvCapture.FromFile("C:\\OpenCvSharp\\FallProgram7Camera3PowerBox\\[ch03]103014_094500__103014_095700decompress-1_WMV V9.wmv"))//Works with wmv
{
if (capture == null)
{
Console.WriteLine("ERROR! FILE NOT FOUND!");
}
while (true)
{
counter++;
IplImage frame = null;
int c;
frame = capture.QueryFrame();
//***********Create the video the same size as the frame
if (counter == 1)
{
double w = frame.Width, h = frame.Height;//This is the width and height for recording.
video = Cv.CreateVideoWriter("C:\\OpenCvSharp\\FallProgram7Camera3PowerBox\\Powerbox Video.avi", "XVID", 30, Cv.Size((int)w, (int)h));
//15 fps. The writer for the avi file.
}
//******************************************
if (frame == null)
break;
if (image == null)
{
image = Cv.CreateImage(frame.Size, BitDepth.U8, 3);
colorImage = Cv.CreateImage(image.Size, BitDepth.U8, 3);
gray = Cv.CreateImage(frame.Size, BitDepth.U8, 1);
prevGray = Cv.CreateImage(frame.Size, BitDepth.U8, 1);
}
if (counter == 200)//Saves a picture here for power box
{
picture = Cv.CreateImage(frame.Size, BitDepth.U8, 3);
Cv.Copy(frame, picture);
picture.SaveImage("C:\\OpenCvSharp\\FallProgram7Camera3PowerBox\\PictureforPowerboxTemplate.bmp");//Save Images for Templates here
Cv.ShowImage("Picture", picture);
}
Cv.Copy(frame, image);
Cv.Copy(image, colorImage);
Cv.CvtColor(image, gray, ColorConversion.BgrToGray);
Cv.SWAP(ref prevGray, ref gray);
//******************************Template Matching
template = new IplImage("C:\\OpenCvSharp\\FallProgram7Camera3PowerBox\\" + currentTemplate);
maxValueHolder = maxValue;
if (counter >= 200 && counter != 1080)//counter >= 520
{
if (xholder < 0 || yholder < 0)
break;
if (counter == 1116)//Save an image to use as a template 1260
image.SaveImage("C:\\OpenCvSharp\\FallProgram7Camera3PowerBox\\NEWPowerboxTemplate2.bmp");
predictImage = image.GetSubImage(rect2);
destSize = new CvSize(predictImage.Width - template.Width + 1, predictImage.Height - template.Height + 1);
destImg = new IplImage(destSize, BitDepth.F32, 1);
//Measuring time for template matching.
watch.Start();
predictImage.MatchTemplate(template, destImg, MatchTemplateMethod.CCoeffNormed);
watch.Stop();
Console.WriteLine("Frame " + counter + " took " + watch.ElapsedMilliseconds + "ms");
file.WriteLine("Frame {0}: " + watch.ElapsedMilliseconds + "ms", counter);
watch.Reset();
//END SECTION
destImg.MinMaxLoc(out minValue, out maxValue, out minLoc, out maxLoc);
if (currentX > 220 && currentX < 370 && currentY > 170 && currentY < 320)
{
perimeter = new CvRect(220, 170, 150, 150);
securityCounter++;
Console.WriteLine(securityCounter);
if (securityCounter > 0 && securityCounter <=300)
{
Cv.PutText(colorImage, "Target in Safe Zone...", new CvPoint(200, 150), font, CvColor.Green);
colorImage.Rectangle(perimeter, CvColor.Green);
}
else if (securityCounter > 300 && securityCounter <= 600)
{
Cv.PutText(colorImage, "Possible Threat...", new CvPoint(200, 150), font, CvColor.Yellow);
colorImage.Rectangle(perimeter, CvColor.Yellow);
}
else if (securityCounter > 600)
{
Cv.PutText(colorImage, "Suspicious Target Detected!!!", new CvPoint(200, 150), font, CvColor.Red);
colorImage.Rectangle(perimeter, CvColor.Red);
status = "DANGER!";
markTarget = CvColor.Red;
}
}
Cv.PutText(colorImage, "(" + (xholder + maxLoc.X).ToString() + ", " +(yholder + maxLoc.Y).ToString() + ") " + status, new CvPoint(xholder + maxLoc.X, (yholder + maxLoc.Y) - 5), font, markTarget);
colorImage.Rectangle(xholder + maxLoc.X, yholder + maxLoc.Y, (xholder + maxLoc.X) + template.Width, (yholder + maxLoc.Y) + template.Height, markTarget);
picture.Rectangle(xholder + maxLoc.X + template.Width / 2, yholder + maxLoc.X + template.Height / 2, xholder + maxLoc.X + template.Width / 2 + 1, yholder + maxLoc.X + template.Height / 2 + 1, CvColor.Red);//Places dot at the center
currentX = xholder + maxLoc.X + template.Width / 2;
currentY = yholder + maxLoc.X + template.Height / 2;
if (previousX > 0 && previousY > 0)
picture.Line(previousX, previousY, currentX, currentY, CvColor.Red);
previousX = xholder + maxLoc.X + template.Width / 2;
previousY = yholder + maxLoc.X + template.Height / 2;
rect2 = new CvRect((xholder + maxLoc.X) - 5, (yholder + maxLoc.Y) - 5, template.Width + 10, template.Height +10);//5 5 10 10
Console.WriteLine("{0},{1}", xholder, yholder);
xholder = rect2.X;
yholder = rect2.Y;
}
else
{
destSize = new CvSize(image.Width - template.Width + 1, image.Height - template.Height + 1);
destImg = new IplImage(destSize, BitDepth.F32, 1);
//Measuring time
watch.Start();
colorImage.MatchTemplate(template, destImg, MatchTemplateMethod.CCoeffNormed);
watch.Stop();
Console.WriteLine("Frame " + counter + " took " + watch.ElapsedMilliseconds + "ms");
file.WriteLine("Frame {0}: " + watch.ElapsedMilliseconds + "ms", counter);
watch.Reset();
//End Section
destImg.MinMaxLoc(out minValue, out maxValue, out minLoc, out maxLoc);
Cv.PutText(colorImage, "(" + maxLoc.X.ToString() + "," + maxLoc.Y.ToString() + ") " + status, new CvPoint(maxLoc.X, maxLoc.Y - 5), font, CvColor.Green);
colorImage.Rectangle(maxLoc.X, maxLoc.Y, maxLoc.X + template.Width, maxLoc.Y + template.Height,markTarget);
rect2 = new CvRect(maxLoc.X - 10, maxLoc.Y - 10, template.Width + 20, template.Height + 20);//Original prediction size here
xholder = rect2.X;
yholder = rect2.Y;
}
if (counter == 403)//Saves a picture here
{
colorImage.SaveImage("C:\\OpenCvSharp\\FallProgram7Camera3PowerBox\\KC515.png");
}
if (counter == 650)//Saves a picture here
{
colorImage.SaveImage("C:\\OpenCvSharp\\FallProgram7Camera3PowerBox\\KC516.png");
}
if (counter == 1000)//Saves a picture here
{
colorImage.SaveImage("C:\\OpenCvSharp\\FallProgram7Camera3PowerBox\\KC517.png");
}
rect = new CvRect(maxLoc.X, maxLoc.Y, template.Width, template.Height);
newTemplate = image.GetSubImage(rect);
Cv.WaitKey(2);
if (maxValue >= bestMatch)
{
Console.WriteLine("NEW BEST MATCH");
bestMatch = maxValue;
//**********************IMPORTANT SAVES!!!!
newTemplate.SaveImage("C://OpenCvSharp//FallProgram7Camera3PowerBox//NEWPowerboxTemplate.bmp");
//**********************
if(counter > 1050)
currentTemplate = "PowerboxTemplate2.bmp";
else
currentTemplate = "PowerboxTemplate.bmp";
}
else
{
//currentTemplate = "S2ABTemplate0.bmp";
if (counter > 1050)
currentTemplate = "PowerboxTemplate2.bmp";
else
currentTemplate = "PowerboxTemplate.bmp";
}
//*************************************************
if (counter >= 135)
Cv.WriteFrame(video, colorImage);//Writes each frame to an avi file.
Cv.ShowImage("color Image", colorImage);
//********************IMPORTANT SAVE!!!
picture.SaveImage("C:\\OpenCvSharp\\SummerPractice32AVICapture\\Summer Practice 23 Results\\Walking Path.bmp");
//********************
//Cv.ShowImage("Test", image);
c = Cv.WaitKey(5);
if ((char)c == 27)
break;
}
file.Close();
colorImage.SaveImage("C:\\OpenCvSharp\\SummerPractice32AVICapture\\Summer Practice 23 Results\\Frame.bmp");
Cv.WaitKey(0);
Cv.ReleaseVideoWriter(video);
Cv.ReleaseCapture(capture);
Cv.DestroyWindow("Test");
}
}
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);
}
