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
}
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)
{
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);
}
