private void DrawLines(Image<Gray, byte> modelImage, SURFTracker.MatchedSURFFeature[] matchedFeatures, Image<Bgr, byte> processedImage)
{
foreach (SURFTracker.MatchedSURFFeature matchedFeature in matchedFeatures)
{
PointF p = matchedFeature.ObservedFeature.Point.pt;
p.Y += modelImage.Height;
processedImage.Draw(new LineSegment2DF(matchedFeature.ObservedFeature.Point.pt, p), new Bgr(Color.DarkOrange), 1);
}
}
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 Image <Bgr, byte> ProcessSurf(Image <Gray, byte> modelImage, Image <Gray, byte> grayFrame, Image <Bgr, byte> rawFrame)
{
SURFFeature[] modelFeatures = modelImage.ExtractSURF(ref _surfParam);
SURFFeature[] imageFeatures = grayFrame.ExtractSURF(ref _surfParam);
SURFTracker tracker = new SURFTracker(modelFeatures);
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);
//Image<Bgr, Byte> processedImage = modelImage.Convert<Bgr, Byte>().ConcateVertical(rawFrame);
var processedImage = rawFrame;
//DrawLines(modelImage, matchedFeatures, processedImage);
if (homography != null)
{
//draw a rectangle along the projected model
var rect = modelImage.ROI;
var 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;
processedImage.DrawPolyline(Array.ConvertAll(pts, Point.Round), true, new Bgr(Color.DarkOrange), 1);
}
return(processedImage);
}
private static Image<Bgr, byte> ProcessSurf(Image<Gray, byte> modelImage, Image<Gray, byte> grayFrame, Image<Bgr, byte> rawFrame)
{
SURFFeature[] modelFeatures = modelImage.ExtractSURF(ref _surfParam);
SURFFeature[] imageFeatures = grayFrame.ExtractSURF(ref _surfParam);
SURFTracker tracker = new SURFTracker(modelFeatures);
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);
//Image<Bgr, Byte> processedImage = modelImage.Convert<Bgr, Byte>().ConcateVertical(rawFrame);
var processedImage = rawFrame;
//DrawLines(modelImage, matchedFeatures, processedImage);
if (homography != null)
{
//draw a rectangle along the projected model
var rect = modelImage.ROI;
var 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;
processedImage.DrawPolyline(Array.ConvertAll(pts, Point.Round), true, new Bgr(Color.DarkOrange), 1);
}
return processedImage;
}
public Image<Gray, Byte> Run(int hessianTresh, bool extended,
int neighbours, int emax,
double uniquenessThreshold,
double scaleIncrement, int rotBins,
bool show)
{
SURFDetector detector = new SURFDetector(hessianTresh, extended); //hessianThresh=500, extended=false
Image<Bgr, Byte> modelImageBgr = new Image<Bgr, byte>(@"images\640x480\3_purple_oval_full_cropped.bmp");//.Convert<Gray, Byte>();
Image<Gray, Byte> modelImage = modelImageBgr.Convert<Gray, Byte>();
//extract features from the object image
SURFFeature[] modelFeatures = modelImage.ExtractSURF(ref detector);
Image<Gray, Byte> observedImage = new Image<Gray, byte>(@"images\640x480\scene1.png");
// extract features from the observed image
SURFFeature[] imageFeatures = observedImage.ExtractSURF(ref detector);
//Create a SURF Tracker using k-d Tree
SURFTracker tracker = new SURFTracker(modelFeatures);
//Comment out above and uncomment below if you wish to use spill-tree instead
//SURFTracker tracker = new SURFTracker(modelFeatures, 50, .7, .1);
SURFTracker.MatchedSURFFeature[] matchedFeatures = tracker.MatchFeature(imageFeatures, neighbours, emax); //neighbours=2, emax=20
matchedFeatures = SURFTracker.VoteForUniqueness(matchedFeatures, uniquenessThreshold);//uniquenessThreshold=0.8
matchedFeatures = SURFTracker.VoteForSizeAndOrientation(matchedFeatures, scaleIncrement, rotBins); //scaleIncrement=1.5, rotBins=20
HomographyMatrix homography = SURFTracker.GetHomographyMatrixFromMatchedFeatures(matchedFeatures);
//Merge the object image and the observed image into one image for display
Image<Gray, Byte> res = modelImage.ConcateHorizontal(observedImage);
#region draw lines between the matched features
foreach (SURFTracker.MatchedSURFFeature matchedFeature in matchedFeatures)
{
PointF p = matchedFeature.ObservedFeature.Point.pt;
p.X += modelImage.Width;
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
if (show)
{
ImageViewer.Show(res);
}
return res;
}
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));
}
