static void Run()
{
MCvSURFParams surfParam = new MCvSURFParams(500, false);
Image<Gray, Byte> modelImage = new Image<Gray, byte>("box.png");
//extract features from the object image
SURFFeature[] modelFeatures = modelImage.ExtractSURF(ref surfParam);
//Create a SURF Tracker
SURFTracker tracker = new SURFTracker(modelFeatures);
Image<Gray, Byte> observedImage = new Image<Gray, byte>("box_in_scene.png");
Stopwatch watch = Stopwatch.StartNew();
// extract features from the observed image
SURFFeature[] imageFeatures = observedImage.ExtractSURF(ref surfParam);
SURFTracker.MatchedSURFFeature[] matchedFeatures = tracker.MatchFeature(imageFeatures, 2, 20);
matchedFeatures = SURFTracker.VoteForUniqueness(matchedFeatures, 0.8);
matchedFeatures = SURFTracker.VoteForSizeAndOrientation(matchedFeatures, 1.5, 20);
HomographyMatrix homography = SURFTracker.GetHomographyMatrixFromMatchedFeatures(matchedFeatures);
watch.Stop();
//Merge the object image and the observed image into one image for display
Image<Gray, Byte> res = modelImage.ConcateVertical(observedImage);
#region draw lines between the matched features
foreach (SURFTracker.MatchedSURFFeature matchedFeature in matchedFeatures)
{
PointF p = matchedFeature.ObservedFeature.Point.pt;
p.Y += modelImage.Height;
res.Draw(new LineSegment2DF(matchedFeature.SimilarFeatures[0].Feature.Point.pt, p), new Gray(0), 1);
}
#endregion
#region draw the project region on the image
if (homography != null)
{ //draw a rectangle along the projected model
Rectangle rect = modelImage.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)};
homography.ProjectPoints(pts);
for (int i = 0; i < pts.Length; i++)
pts[i].Y += modelImage.Height;
res.DrawPolyline(Array.ConvertAll<PointF, Point>(pts, Point.Round), true, new Gray(255.0), 5);
}
#endregion
ImageViewer.Show(res, String.Format("Matched in {0} milliseconds", watch.ElapsedMilliseconds));
}
public StopSignDetector()
{
_surfParam = new MCvSURFParams(500, false);
using (Image<Bgr, Byte> stopSignModel = new Image<Bgr, Byte>("stop-sign-model.png"))
using (Image<Gray, Byte> redMask = GetRedPixelMask(stopSignModel))
{
_tracker = new SURFTracker(redMask.ExtractSURF(ref _surfParam));
}
_octagonStorage = new MemStorage();
_octagon = new Contour<Point>(_octagonStorage);
_octagon.PushMulti(new Point[] {
new Point(1, 0),
new Point(2, 0),
new Point(3, 1),
new Point(3, 2),
new Point(2, 3),
new Point(1, 3),
new Point(0, 2),
new Point(0, 1)},
Emgu.CV.CvEnum.BACK_OR_FRONT.FRONT);
}
private static bool MatchImages(Image<Gray, Byte> observedImage, Bitmap reference)
{
MCvSURFParams surfParam = new MCvSURFParams(500, false);
Image<Gray, Byte> modelImage = new Image<Gray, byte>(reference);
//extract features from the object image
SURFFeature[] modelFeatures = modelImage.ExtractSURF(ref surfParam);
//Create a SURF Tracker
SURFTracker tracker = new SURFTracker(modelFeatures);
// extract features from the observed image
SURFFeature[] imageFeatures = observedImage.ExtractSURF(ref surfParam);
SURFTracker.MatchedSURFFeature[] matchedFeatures = tracker.MatchFeature(imageFeatures, 2, 20);
matchedFeatures = SURFTracker.VoteForUniqueness(matchedFeatures, accuracy);
matchedFeatures = SURFTracker.VoteForSizeAndOrientation(matchedFeatures, 1.5, 20);
HomographyMatrix homography = SURFTracker.GetHomographyMatrixFromMatchedFeatures(matchedFeatures);
if (homography != null)
{
return true;
}
else
{
return false;
}
}
public void TestSURF()
{
for (int k = 0; k < 1; k++)
{
Image<Gray, Byte> modelImage = new Image<Gray, byte>("box.png");
//Image<Gray, Byte> modelImage = new Image<Gray, byte>("stop.jpg");
//modelImage = modelImage.Resize(400, 400, true);
//modelImage._EqualizeHist();
#region extract features from the object image
Stopwatch stopwatch = Stopwatch.StartNew();
MCvSURFParams param1 = new MCvSURFParams(500, false);
SURFFeature[] modelFeatures = modelImage.ExtractSURF(ref param1);
SURFTracker tracker = new SURFTracker(modelFeatures);
stopwatch.Stop();
Trace.WriteLine(String.Format("Time to extract feature from model: {0} milli-sec", stopwatch.ElapsedMilliseconds));
#endregion
//Image<Gray, Byte> observedImage = new Image<Gray, byte>("traffic.jpg");
Image<Gray, Byte> observedImage = new Image<Gray, byte>("box_in_scene.png");
//Image<Gray, Byte> observedImage = modelImage.Rotate(45, new Gray(0.0));
//Image<Gray, Byte> observedImage = new Image<Gray, byte>("left.jpg");
//image = image.Resize(400, 400, true);
//observedImage._EqualizeHist();
#region extract features from the observed image
stopwatch.Reset(); stopwatch.Start();
MCvSURFParams param2 = new MCvSURFParams(500, false);
SURFFeature[] observedFeatures = observedImage.ExtractSURF(ref param2);
stopwatch.Stop();
Trace.WriteLine(String.Format("Time to extract feature from image: {0} milli-sec", stopwatch.ElapsedMilliseconds));
#endregion
//Merge the object image and the observed image into one big image for display
Image<Gray, Byte> res = modelImage.ConcateVertical(observedImage);
Rectangle rect = modelImage.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)};
HomographyMatrix homography;
stopwatch.Reset(); stopwatch.Start();
homography = tracker.Detect(observedFeatures, 0.8);
stopwatch.Stop();
Trace.WriteLine(String.Format("Time for feature matching: {0} milli-sec", stopwatch.ElapsedMilliseconds));
if (homography != null)
{
PointF[] points = pts.Clone() as PointF[];
homography.ProjectPoints(points);
for (int i = 0; i < points.Length; i++)
points[i].Y += modelImage.Height;
res.DrawPolyline(Array.ConvertAll<PointF, Point>(points, Point.Round), true, new Gray(255.0), 5);
}
stopwatch.Reset(); stopwatch.Start();
//set the initial region to be the whole image
using (Image<Gray, Single> priorMask = new Image<Gray, float>(observedImage.Size))
{
priorMask.SetValue(1.0);
homography = tracker.CamShiftTrack(
observedFeatures,
(RectangleF)observedImage.ROI,
priorMask);
}
Trace.WriteLine(String.Format("Time for feature tracking: {0} milli-sec", stopwatch.ElapsedMilliseconds));
if (homography != null) //set the initial tracking window to be the whole image
{
PointF[] points = pts.Clone() as PointF[];
homography.ProjectPoints(points);
for (int i = 0; i < points.Length; i++)
points[i].Y += modelImage.Height;
res.DrawPolyline(Array.ConvertAll<PointF, Point>(points, Point.Round), true, new Gray(255.0), 5);
}
}
}
