public StopSignDetector(Image <Bgr, Byte> stopSignModel)
{
_detector = new SURFDetector(500, false);
using (Image <Gray, Byte> redMask = GetRedPixelMask(stopSignModel))
{
ImageFeature <float>[] features = _detector.DetectFeatures(redMask, null);
if (features.Length == 0)
{
throw new Exception("No image feature has been found in the stop sign model");
}
_tracker = new Features2DTracker <float>(features);
}
_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 int GetMatchedFeatureCount(Image <Gray, Byte> contourImage)
{
Features2DTracker <float> .MatchedImageFeature[] matchedFeatures;
try
{
//return 20;
ImageFeature <float>[] features = surfaceParameters.DetectFeatures(contourImage, null);
matchedFeatures = featureTracker.MatchFeature(features, 2);
}
catch (AccessViolationException)
{
Console.WriteLine("Access Violation Exception encountered");
return(0);
}
catch (Exception)
{
return(0);
}
int matchedFeatureCount = 0;
foreach (Features2DTracker <float> .MatchedImageFeature feature in matchedFeatures)
{
if (feature.SimilarFeatures[0].Distance < 0.5)
{
matchedFeatureCount++;
}
}
return(matchedFeatureCount);
}
public void IndexFiles(FileInfo[] imageFiles, System.ComponentModel.BackgroundWorker IndexBgWorker,
Action <string> logWriter,
SurfSettings surfSetting = null)
{
#region Surf Dectator Region
double hessianThresh = 500;
double uniquenessThreshold = 0.8;
if (surfSetting != null)
{
hessianThresh = surfSetting.HessianThresh.Value;
uniquenessThreshold = surfSetting.UniquenessThreshold.Value;
}
SURFDetector surfDectector = new SURFDetector(hessianThresh, false);
#endregion
List <SURFRecord2> surfRecord2List = new List <SURFRecord2>();
Stopwatch sw1, sw2;
sw1 = Stopwatch.StartNew();
logWriter("Index started...");
int totalFileCount = imageFiles.Length;
for (int i = 0; i < totalFileCount; i++)
{
var fi = imageFiles[i];
using (Image <Gray, byte> observerImage = new Image <Gray, byte>(fi.FullName))
{
ImageFeature <float>[] observerFeatures = surfDectector.DetectFeatures(observerImage, null);
if (observerFeatures.Length > 4)
{
SURFRecord2 record = new SURFRecord2
{
Id = i,
ImageName = fi.Name,
ImagePath = fi.FullName,
observerFeatures = observerFeatures
};
surfRecord2List.Add(record);
}
else
{
Debug.WriteLine(fi.Name + " skip from index, because it didn't have significant feature");
}
}
IndexBgWorker.ReportProgress(i);
}
SurfRepository.AddSURFRecord2List(surfRecord2List);
sw1.Stop();
logWriter(string.Format("Index Complete, it tooked {0} ms. Saving Repository...", sw1.ElapsedMilliseconds));
sw2 = Stopwatch.StartNew();
SurfRepository.SaveRepository(SurfAlgo.Linear);
sw2.Stop();
logWriter(string.Format("Index tooked {0} ms. Saving Repository tooked {1} ms", sw1.ElapsedMilliseconds, sw2.ElapsedMilliseconds));
}
private void FindStopSign(Image <Bgr, byte> img, List <Image <Gray, Byte> > stopSignList, List <Rectangle> boxList, Contour <Point> contours)
{
for (; contours != null; contours = contours.HNext)
{
contours.ApproxPoly(contours.Perimeter * 0.02, 0, contours.Storage);
if (contours.Area > 200)
{
double ratio = CvInvoke.cvMatchShapes(_octagon, contours, Emgu.CV.CvEnum.CONTOURS_MATCH_TYPE.CV_CONTOURS_MATCH_I3, 0);
if (ratio > 0.1) //not a good match of contour shape
{
Contour <Point> child = contours.VNext;
if (child != null)
{
FindStopSign(img, stopSignList, boxList, child);
}
continue;
}
Rectangle box = contours.BoundingRectangle;
Image <Gray, Byte> candidate;
using (Image <Bgr, Byte> tmp = img.Copy(box))
candidate = tmp.Convert <Gray, byte>();
//set the value of pixels not in the contour region to zero
using (Image <Gray, Byte> mask = new Image <Gray, byte>(box.Size))
{
mask.Draw(contours, new Gray(255), new Gray(255), 0, -1, new Point(-box.X, -box.Y));
double mean = CvInvoke.cvAvg(candidate, mask).v0;
candidate._ThresholdBinary(new Gray(mean), new Gray(255.0));
candidate._Not();
mask._Not();
candidate.SetValue(0, mask);
}
ImageFeature[] features = _detector.DetectFeatures(candidate, null);
Features2DTracker.MatchedImageFeature[] matchedFeatures = _tracker.MatchFeature(features, 2);
int goodMatchCount = 0;
foreach (Features2DTracker.MatchedImageFeature ms in matchedFeatures)
{
if (ms.SimilarFeatures[0].Distance < 0.5)
{
goodMatchCount++;
}
}
if (goodMatchCount >= 10)
{
boxList.Add(box);
stopSignList.Add(candidate);
}
}
}
}
private void CreateSurfaceTracker()
{
surfaceParameters = new SURFDetector(500, false);
using (Image <Bgr, Byte> stopSignModel = new Image <Bgr, Byte>(Properties.Resources.SignModel))
using (Image <Gray, Byte> redMask = GetRedPixelMask(stopSignModel))
{
featureTracker = new Features2DTracker <float>(surfaceParameters.DetectFeatures(redMask, null));
}
}
public Homography()
{
InitializeComponent();
camera = new Capture(@"F:\Working\Final phase\DataSet\20150409_13-34-33.asf");
surfParam = new SURFDetector(500, false);
modelImage = new Image <Rgb, byte>(@"C:\Users\ahmed nady\Pictures\modelImage.bmp");
modelFeatures = surfParam.DetectFeatures(modelImage.Convert <Gray, byte>(), null);
//Create a Feature Tracker
tracker = new Features2DTracker <float>(modelFeatures);
}
private void button1_Click(object sender, EventArgs e)
{
if (capture)
{
button1.Text = "start";
//extract features from the object image
modelFeatures = surfParam.DetectFeatures(modelImage.Convert <Gray, byte>(), null);
//Create a Feature Tracker
tracker = new Features2DTracker <float>(modelFeatures);
Application.Idle -= ProcessFrame;
}
else
{
button1.Text = "pause";
Application.Idle += ProcessFrame;
}
capture = !capture;
}
public Surf()
{
InitializeComponent();
camera = new Capture(0);
surfParam = new SURFDetector(500, false);
modelImage = new Image <Rgb, byte>(@"C:\Users\ahmed nady\Desktop\hand.jpg");
//extract features from the object image
modelFeatures = surfParam.DetectFeatures(modelImage.Convert <Gray, byte>(), null);
//Create a Feature Tracker
tracker = new Features2DTracker <float>(modelFeatures);
}
void ProcessFrame(object sender, EventArgs arg)
{
observedImage = camera.QueryFrame().Convert <Rgb, byte>();
// extract features from the observed image
ImageFeature <float>[] imageFeatures = surfParam.DetectFeatures(observedImage.Convert <Gray, byte>(), null);
Features2DTracker <float> .MatchedImageFeature[] matchedFeatures = tracker.MatchFeature(imageFeatures, 2);
matchedFeatures = Features2DTracker <float> .VoteForUniqueness(matchedFeatures, 0.8);
matchedFeatures = Features2DTracker <float> .VoteForSizeAndOrientation(matchedFeatures, 1.5, 20);
HomographyMatrix homography = Features2DTracker <float> .GetHomographyMatrixFromMatchedFeatures(matchedFeatures);
Image <Rgb, Byte> res = modelImage.ConcateHorizontal(observedImage);
#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;
observedImage.DrawPolyline(Array.ConvertAll <PointF, Point>(pts, Point.Round), true, new Rgb(255, 20, 100), 5);
}
#endregion
imageBox2.Image = res;
imageBox1.Image = observedImage;
}
public SurfStopSignDetector()
{
detector = new SURFDetector(500, false);
Image <Bgr, Byte> stopSignModel = new Image <Bgr, Byte>("models\\stop-sign-model.png");
Image <Gray, Byte> redMask = GetRedPixelMask(stopSignModel);
tracker = new Features2DTracker <float>(detector.DetectFeatures(redMask, null));
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);
}
public StopSignDetector(Image <Bgr, Byte> stopSignModel)
{
_detector = new SURFDetector(500, false);
using (Image <Gray, Byte> redMask = GetRedPixelMask(stopSignModel))
{
ImageFeature <float>[] temp = _detector.DetectFeatures(redMask, null);
_tracker = new Features2DTracker <float>(temp);
}
_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
);
}
static void Run()
{
SURFDetector surfParam = new SURFDetector(500, false);
Image <Gray, Byte> modelImage = new Image <Gray, byte>("box.png");
//extract features from the object image
ImageFeature[] modelFeatures = surfParam.DetectFeatures(modelImage, null);
//Create a Feature Tracker
Features2DTracker tracker = new Features2DTracker(modelFeatures);
Image <Gray, Byte> observedImage = new Image <Gray, byte>("box_in_scene.png");
Stopwatch watch = Stopwatch.StartNew();
// extract features from the observed image
ImageFeature[] imageFeatures = surfParam.DetectFeatures(observedImage, null);
Features2DTracker.MatchedImageFeature[] matchedFeatures = tracker.MatchFeature(imageFeatures, 2, 20);
matchedFeatures = Features2DTracker.VoteForUniqueness(matchedFeatures, 0.8);
matchedFeatures = Features2DTracker.VoteForSizeAndOrientation(matchedFeatures, 1.5, 20);
HomographyMatrix homography = Features2DTracker.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 (Features2DTracker.MatchedImageFeature matchedFeature in matchedFeatures)
{
PointF p = matchedFeature.ObservedFeature.KeyPoint.Point;
p.Y += modelImage.Height;
res.Draw(new LineSegment2DF(matchedFeature.SimilarFeatures[0].Feature.KeyPoint.Point, 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 List <ImageRecord> QueryImage(string queryImagePath, SurfSettings surfSetting = null)
{
List <ImageRecord> rtnImageList = new List <ImageRecord>();
var observerFeatureSets = SurfRepository.GetSurfRecordList();
#region Surf Dectator Region
double hessianThresh = 500;
double uniquenessThreshold = 0.8;
int minGoodMatchPercent = 50;
if (surfSetting != null)
{
hessianThresh = surfSetting.HessianThresh.Value;
uniquenessThreshold = surfSetting.UniquenessThreshold.Value;
minGoodMatchPercent = surfSetting.GoodMatchThreshold.Value;
}
SURFDetector surfDectector = new SURFDetector(hessianThresh, false);
#endregion
using (Image <Gray, byte> modelImage = new Image <Gray, byte>(queryImagePath))
{
ImageFeature <float>[] modelFeatures = surfDectector.DetectFeatures(modelImage, null);
if (modelFeatures.Length < 4)
{
throw new InvalidOperationException("Model image didn't have any significant features to detect");
}
Features2DTracker <float> tracker = new Features2DTracker <float>(modelFeatures);
foreach (var surfRecord in observerFeatureSets)
{
string queryImageName = System.IO.Path.GetFileName(queryImagePath);
string modelImageName = surfRecord.ImageName;
Features2DTracker <float> .MatchedImageFeature[] matchedFeatures = tracker.MatchFeature(surfRecord.observerFeatures, 2);
Features2DTracker <float> .MatchedImageFeature[] uniqueFeatures = Features2DTracker <float> .VoteForUniqueness(matchedFeatures, uniquenessThreshold);
Features2DTracker <float> .MatchedImageFeature[] uniqueRotOriFeatures = Features2DTracker <float> .VoteForSizeAndOrientation(uniqueFeatures, 1.5, 20);
int goodMatchCount = 0;
goodMatchCount = uniqueRotOriFeatures.Length;
bool isMatch = false;
double totalnumberOfModelFeature = modelFeatures.Length;
double matchPercentage = ((totalnumberOfModelFeature - (double)goodMatchCount) / totalnumberOfModelFeature);
matchPercentage = (1 - matchPercentage) * 100;
matchPercentage = Math.Round(matchPercentage);
if (matchPercentage >= minGoodMatchPercent)
{
HomographyMatrix homography =
Features2DTracker <float> .GetHomographyMatrixFromMatchedFeatures(uniqueRotOriFeatures);
if (homography != null)
{
isMatch = homography.IsValid(5);
if (isMatch)
{
surfRecord.Distance = matchPercentage;
rtnImageList.Add((ImageRecord)surfRecord);
}
}
}
//bool isMatch = false;
//if (uniqueFeatures.Length > 4)
//{
// HomographyMatrix homography =
// Features2DTracker<float>.GetHomographyMatrixFromMatchedFeatures(uniqueRotOriFeatures);
// if (homography != null)
// {
// isMatch = homography.IsValid(5);
// }
//}
//if (isMatch)
//{
// surfRecord.Distance = goodMatchCount;
// rtnImageList.Add((ImageRecord)surfRecord);
//}
//int goodMatchCount = 0;
//foreach (Features2DTracker<float>.MatchedImageFeature ms in matchedFeatures)
//{
// if (ms.SimilarFeatures[0].Distance < uniquenessThreshold)
// goodMatchCount++;
//}
//double totalnumberOfModelFeature = modelFeatures.Length;
//double matchPercentage = ((totalnumberOfModelFeature - (double)goodMatchCount) / totalnumberOfModelFeature);
//matchPercentage = (1 - matchPercentage) * 100;
//matchPercentage = Math.Round(matchPercentage);
//if (matchPercentage >= minGoodMatchPercent)
//{
// surfRecord.Distance = matchPercentage;
// rtnImageList.Add((ImageRecord)surfRecord);
//}
}
}
rtnImageList = rtnImageList.OrderByDescending(x => x.Distance).ToList();
return(rtnImageList);
}
