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)); }
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; } }