■ STOP 표지판을 인식하는 방법을 보여준다.
▶ StopSignDetector.cs
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using System; using System.Collections.Generic; using System.Drawing; using Emgu.CV; using Emgu.CV.CvEnum; using Emgu.CV.Features2D; using Emgu.CV.Structure; using Emgu.Util; namespace TestProject { /// <summary> /// STOP 표지판 검출기 /// </summary> public class StopSignDetector : DisposableObject { //////////////////////////////////////////////////////////////////////////////////////////////////// Field ////////////////////////////////////////////////////////////////////////////////////////// Private #region Field /// <summary> /// 추적기 /// </summary> private Features2DTracker<float> tracker; /// <summary> /// 검출기 /// </summary> private SURFDetector detector; /// <summary> /// 팔각형 저장소 /// </summary> private MemStorage octagonStorage; /// <summary> /// 팔각형 윤곽선 /// </summary> private Contour<Point> octagonContour; #endregion //////////////////////////////////////////////////////////////////////////////////////////////////// Constructor ////////////////////////////////////////////////////////////////////////////////////////// Public #region 생성자 - StopSignDetector(modelImage) /// <summary> /// 생성자 /// </summary> /// <param name="modelImage">모델 이미지</param> public StopSignDetector(Image<Bgr, Byte> modelImage) { this.detector = new SURFDetector(500, false); using(Image<Gray, Byte> maskImage = GetRedPixelMaskImage(modelImage)) { ImageFeature<float>[] imageFeatureArray = this.detector.DetectFeatures(maskImage, null); if(imageFeatureArray.Length == 0) { throw new Exception("No image feature has been found in the stop sign model"); } this.tracker = new Features2DTracker<float>(imageFeatureArray); } this.octagonStorage = new MemStorage(); this.octagonContour = new Contour<Point>(this.octagonStorage); this.octagonContour.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) }, BACK_OR_FRONT.FRONT ); } #endregion //////////////////////////////////////////////////////////////////////////////////////////////////// Method ////////////////////////////////////////////////////////////////////////////////////////// Public #region STOP 표지판 검출하기 - DetectStopSign(sourceImage, imageList, rectangleList) /// <summary> /// STOP 표지판 검출하기 /// </summary> /// <param name="sourceImage">소스 이미지</param> /// <param name="imageList">이미지 리스트</param> /// <param name="rectangleList">사각형 리스트</param> public void DetectStopSign(Image<Bgr, byte> sourceImage, List<Image<Gray, Byte>> imageList, List<Rectangle> rectangleList) { Image<Bgr, Byte> smoothImage = sourceImage.SmoothGaussian(5, 5, 1.5, 1.5); Image<Gray, Byte> maskImage = GetRedPixelMaskImage(smoothImage); maskImage._Dilate(1); maskImage._Erode(1); using(Image<Gray, Byte> cannyImage = maskImage.Canny(100, 50)) { using(MemStorage storage = new MemStorage()) { Contour<Point> pointContour = cannyImage.FindContours ( CHAIN_APPROX_METHOD.CV_CHAIN_APPROX_SIMPLE, RETR_TYPE.CV_RETR_TREE, storage ); FindStopSign(sourceImage, imageList, rectangleList, pointContour); } } } #endregion ////////////////////////////////////////////////////////////////////////////////////////// Protected #region 객체 리소스 해제하기 - DisposeObject() /// <summary> /// 객체 리소스 해제하기 /// </summary> protected override void DisposeObject() { this.tracker.Dispose(); this.octagonStorage.Dispose(); } #endregion ////////////////////////////////////////////////////////////////////////////////////////// Private #region 빨간색 픽셀 마스크 이미지 구하기 - GetRedPixelMaskImage(sourceImage) /// <summary> /// 빨간색 픽셀 마스크 이미지 구하기 /// </summary> /// <param name="sourceImage">소스 이미지</param> /// <returns>빨간색 픽셀 마스크 이미지</returns> private Image<Gray, Byte> GetRedPixelMaskImage(Image<Bgr, byte> sourceImage) { using(Image<Hsv, Byte> hsvImage = sourceImage.Convert<Hsv, Byte>()) { Image<Gray, Byte>[] channelImageArray = hsvImage.Split(); try { CvInvoke.cvInRangeS ( channelImageArray[0], new MCvScalar(20), new MCvScalar(160), channelImageArray[0] ); channelImageArray[0]._Not(); channelImageArray[1]._ThresholdBinary(new Gray(10), new Gray(255.0)); CvInvoke.cvAnd(channelImageArray[0], channelImageArray[1], channelImageArray[0], IntPtr.Zero); } finally { channelImageArray[1].Dispose(); channelImageArray[2].Dispose(); } return channelImageArray[0]; } } #endregion #region STOP 표지판 찾기 - FindStopSign(sourceImage, imageList, rectangleList, pointContour) /// <summary> /// STOP 표지판 찾기 /// </summary> /// <param name="sourceImage">소스 이미지</param> /// <param name="imageList">이미지 리스트</param> /// <param name="rectangleList">사각형 리스트</param> /// <param name="pointContour">포인트 윤곽선</param> private void FindStopSign(Image<Bgr, byte> sourceImage, List<Image<Gray, Byte>> imageList, List<Rectangle> rectangleList, Contour<Point> pointContour) { for(; pointContour != null; pointContour = pointContour.HNext) { pointContour.ApproxPoly(pointContour.Perimeter * 0.02, 0, pointContour.Storage); if(pointContour.Area > 200) { double ratio = CvInvoke.cvMatchShapes ( this.octagonContour, pointContour, CONTOURS_MATCH_TYPE.CV_CONTOURS_MATCH_I3, 0 ); if(ratio > 0.1) { Contour<Point> childPointContour = pointContour.VNext; if(childPointContour != null) { FindStopSign(sourceImage, imageList, rectangleList, childPointContour); } continue; } Rectangle rectangle = pointContour.BoundingRectangle; Image<Gray, Byte> candidateImage; using(Image<Bgr, Byte> temporaryImage = sourceImage.Copy(rectangle)) { candidateImage = temporaryImage.Convert<Gray, byte>(); } using(Image<Gray, Byte> maskImage = new Image<Gray, byte>(rectangle.Size)) { maskImage.Draw ( pointContour, new Gray(255), new Gray(255), 0, -1, new Point(-rectangle.X, -rectangle.Y) ); double mean = CvInvoke.cvAvg(candidateImage, maskImage).v0; candidateImage._ThresholdBinary(new Gray(mean), new Gray(255.0)); candidateImage._Not(); maskImage._Not(); candidateImage.SetValue(0, maskImage); } ImageFeature<float>[] imageFeatureArray = this.detector.DetectFeatures(candidateImage, null); int minimumMatchCount = 10; if(imageFeatureArray != null && imageFeatureArray.Length >= minimumMatchCount) { Features2DTracker<float>.MatchedImageFeature[] matchedImageFeatureArray = this.tracker.MatchFeature(imageFeatureArray, 2); int goodMatchCount = 0; foreach(Features2DTracker<float>.MatchedImageFeature matchedImageFeature in matchedImageFeatureArray) { if(matchedImageFeature.SimilarFeatures[0].Distance < 0.5) { goodMatchCount++; } } if(goodMatchCount >= minimumMatchCount) { rectangleList.Add(rectangle); imageList.Add(candidateImage); } } } } } #endregion } } |
▶ MainForm.cs
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using System; using System.Collections.Generic; using System.Diagnostics; using System.Drawing; using System.Windows.Forms; using Emgu.CV; using Emgu.CV.Structure; using Emgu.CV.UI; namespace TestProject { /// <summary> /// 메인 폼 /// </summary> public partial class MainForm : Form { //////////////////////////////////////////////////////////////////////////////////////////////////// Field ////////////////////////////////////////////////////////////////////////////////////////// Private #region Field /// <summary> /// 검출기 /// </summary> private StopSignDetector detector; #endregion //////////////////////////////////////////////////////////////////////////////////////////////////// Constructor ////////////////////////////////////////////////////////////////////////////////////////// Public #region 생성자 - MainForm() /// <summary> /// 생성자 /// </summary> public MainForm() { InitializeComponent(); using(Image<Bgr, Byte> modelImage = new Image<Bgr, Byte>("stop-sign-model.png")) { using (Image<Bgr, Byte> image = new Image<Bgr, byte>("stop-sign.jpg")) { this.detector = new StopSignDetector(modelImage); ProcessImage(image); } } } #endregion //////////////////////////////////////////////////////////////////////////////////////////////////// Method ////////////////////////////////////////////////////////////////////////////////////////// Private //////////////////////////////////////////////////////////////////////////////// Event #region 이미지 로드 버튼 클릭시 처리하기 - loadImageButton_Click(sender, e) /// <summary> /// 이미지 로드 버튼 클릭시 처리하기 /// </summary> /// <param name="sender">이벤트 발생자</param> /// <param name="e">이벤트 인자</param> private void loadImageButton_Click(object sender, EventArgs e) { DialogResult result = openFileDialog.ShowDialog(); if(result == DialogResult.OK) { Image<Bgr, Byte> image; try { image = new Image<Bgr, byte>(openFileDialog.FileName); } catch { MessageBox.Show("지원하는 파일 포맷이 아닙니다."); return; } ProcessImage(image); } } #endregion //////////////////////////////////////////////////////////////////////////////// Function #region 레이블 및 이미지 추가하기 - AddLabelAndImage(startPoint, text, image) /// <summary> /// 레이블 및 이미지 추가하기 /// </summary> /// <param name="startPoint">시작 위치</param> /// <param name="text">텍스트</param> /// <param name="image">이미지</param> private void AddLabelAndImage(ref Point startPoint, string text, IImage image) { Label label = new Label(); this.resultPanel.Controls.Add(label); label.Width = 100; label.Height = 30; label.Location = startPoint; label.Text = text; startPoint.Y += label.Height; ImageBox imageBox = new ImageBox(); this.resultPanel.Controls.Add(imageBox); imageBox.ClientSize = image.Size; imageBox.Location = startPoint; imageBox.Image = image; startPoint.Y += imageBox.Height + 10; } #endregion #region 이미지 처리하기 - ProcessImage(image) /// <summary> /// 이미지 처리하기 /// </summary> /// <param name="image">이미지</param> private void ProcessImage(Image<Bgr, byte> image) { Stopwatch stopwatch = Stopwatch.StartNew(); List<Image<Gray, Byte>> imageList = new List<Image<Gray, byte>>(); List<Rectangle> rectangleList = new List<Rectangle>(); this.detector.DetectStopSign(image, imageList, rectangleList); stopwatch.Stop(); this.messageLabel.Text = String.Format("STOP 표지판 검출 시간 : {0} 밀리초", stopwatch.Elapsed.TotalMilliseconds); this.resultPanel.Controls.Clear(); Point startPoint = new Point(10, 10); for(int i = 0; i < imageList.Count; i++) { Rectangle rectangle = rectangleList[i]; AddLabelAndImage ( ref startPoint, string.Format ( "STOP 표지판 [{0}, {1}]", rectangle.Location.Y + rectangle.Width / 2, rectangle.Location.Y + rectangle.Height / 2 ), imageList[i] ); image.Draw(rectangle, new Bgr(Color.Aquamarine), 2); } this.imageBox.Image = image; } #endregion } } |
