■ SURF 특징점을 찾는 방법을 보여준다.
▶ MatchHelper.cs
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using System; using System.Diagnostics; using System.Drawing; using Emgu.CV; using Emgu.CV.CvEnum; using Emgu.CV.Features2D; using Emgu.CV.Structure; using Emgu.CV.Util; #if !IOS using Emgu.CV.GPU; #endif namespace TestProject { /// <summary> /// 매칭 헬퍼 /// </summary> public static class MatchHelper { //////////////////////////////////////////////////////////////////////////////////////////////////// Method ////////////////////////////////////////////////////////////////////////////////////////// Static //////////////////////////////////////////////////////////////////////////////// Public #region 매칭 찾기 - FindMatch(modelImage, sourceImage, matchTime, modelVectorOfKeyPoint, sourceVectorOfKeyPoint, indexMatrix, maskMatrix, homographyMatrix) /// <summary> /// 매칭 찾기 /// </summary> /// <param name="modelImage">모델 이미지</param> /// <param name="sourceImage">소스 이미지</param> /// <param name="matchTime">매칭 시간</param> /// <param name="modelVectorOfKeyPoint">모델 키 포인트 벡터</param> /// <param name="sourceVectorOfKeyPoint">소스 키 포인트 벡터</param> /// <param name="indexMatrix">인덱스 매트릭스</param> /// <param name="maskMatrix">마스크 매트릭스</param> /// <param name="homographyMatrix">호모 그래피 매트릭스</param> public static void FindMatch(Image<Gray, Byte> modelImage, Image<Gray, byte> sourceImage, out long matchTime, out VectorOfKeyPoint modelVectorOfKeyPoint, out VectorOfKeyPoint sourceVectorOfKeyPoint, out Matrix<int> indexMatrix, out Matrix<byte> maskMatrix, out HomographyMatrix homographyMatrix) { int k = 2; double uniquenessThreshold = 0.8; SURFDetector surfDetector = new SURFDetector(500, false); Stopwatch stopwatch; homographyMatrix = null; #if !IOS if(GpuInvoke.HasCuda) { GpuSURFDetector gpuSURFDetector = new GpuSURFDetector(surfDetector.SURFParams, 0.01f); using(GpuImage<Gray, Byte> modelGpuImage = new GpuImage<Gray, byte>(modelImage)) { using(GpuMat<float> modelKeyPointGpuMat = gpuSURFDetector.DetectKeyPointsRaw(modelGpuImage, null)) { using(GpuMat<float> modelDescriptorGpuMat = gpuSURFDetector.ComputeDescriptorsRaw(modelGpuImage, null, modelKeyPointGpuMat)) { using(GpuBruteForceMatcher<float> matcher = new GpuBruteForceMatcher<float>(DistanceType.L2)) { modelVectorOfKeyPoint = new VectorOfKeyPoint(); gpuSURFDetector.DownloadKeypoints(modelKeyPointGpuMat, modelVectorOfKeyPoint); stopwatch = Stopwatch.StartNew(); using(GpuImage<Gray, Byte> sourceGpuImage = new GpuImage<Gray, byte>(sourceImage)) { using(GpuMat<float> sourceKeyPointGpuMat = gpuSURFDetector.DetectKeyPointsRaw(sourceGpuImage, null)) { using(GpuMat<float> sourceDescriptorGpuMat = gpuSURFDetector.ComputeDescriptorsRaw(sourceGpuImage, null, sourceKeyPointGpuMat)) { using(GpuMat<int> matchIndexGpuMat = new GpuMat<int>(sourceDescriptorGpuMat.Size.Height, k, 1, true)) { using(GpuMat<float> matchDistainceGpuMat = new GpuMat<float>(sourceDescriptorGpuMat.Size.Height, k, 1, true)) { using(GpuMat<Byte> maskGpuMat = new GpuMat<byte>(matchIndexGpuMat.Size.Height, 1, 1)) { using(Stream stream = new Stream()) { matcher.KnnMatchSingle ( sourceDescriptorGpuMat, modelDescriptorGpuMat, matchIndexGpuMat, matchDistainceGpuMat, k, null, stream ); indexMatrix = new Matrix<int>(matchIndexGpuMat.Size); maskMatrix = new Matrix<byte>(maskGpuMat.Size); using(GpuMat<float> col0 = matchDistainceGpuMat.Col(0)) { using(GpuMat<float> col1 = matchDistainceGpuMat.Col(1)) { GpuInvoke.Multiply(col1, new MCvScalar(uniquenessThreshold), col1, stream); GpuInvoke.Compare(col0, col1, maskGpuMat, CMP_TYPE.CV_CMP_LE, stream); } } sourceVectorOfKeyPoint = new VectorOfKeyPoint(); gpuSURFDetector.DownloadKeypoints(sourceKeyPointGpuMat, sourceVectorOfKeyPoint); stream.WaitForCompletion(); maskGpuMat.Download(maskMatrix); matchIndexGpuMat.Download(indexMatrix); if(GpuInvoke.CountNonZero(maskGpuMat) >= 4) { int nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation ( modelVectorOfKeyPoint, sourceVectorOfKeyPoint, indexMatrix, maskMatrix, 1.5, 20 ); if(nonZeroCount >= 4) { homographyMatrix = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures ( modelVectorOfKeyPoint, sourceVectorOfKeyPoint, indexMatrix, maskMatrix, 2 ); } } stopwatch.Stop(); } } } } } } } } } } } } else #endif { modelVectorOfKeyPoint = new VectorOfKeyPoint(); Matrix<float> modelDescriptorMatrix = surfDetector.DetectAndCompute(modelImage, null, modelVectorOfKeyPoint); stopwatch = Stopwatch.StartNew(); sourceVectorOfKeyPoint = new VectorOfKeyPoint(); Matrix<float> sourceDescriptorMatrix = surfDetector.DetectAndCompute(sourceImage, null, sourceVectorOfKeyPoint); BruteForceMatcher<float> matcher = new BruteForceMatcher<float>(DistanceType.L2); matcher.Add(modelDescriptorMatrix); indexMatrix = new Matrix<int>(sourceDescriptorMatrix.Rows, k); using(Matrix<float> distanceMatrix = new Matrix<float>(sourceDescriptorMatrix.Rows, k)) { matcher.KnnMatch(sourceDescriptorMatrix, indexMatrix, distanceMatrix, k, null); maskMatrix = new Matrix<byte>(distanceMatrix.Rows, 1); maskMatrix.SetValue(255); Features2DToolbox.VoteForUniqueness(distanceMatrix, uniquenessThreshold, maskMatrix); } int nonZeroCount = CvInvoke.cvCountNonZero(maskMatrix); if(nonZeroCount >= 4) { nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation ( modelVectorOfKeyPoint, sourceVectorOfKeyPoint, indexMatrix, maskMatrix, 1.5, 20 ); if(nonZeroCount >= 4) { homographyMatrix = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures ( modelVectorOfKeyPoint, sourceVectorOfKeyPoint, indexMatrix, maskMatrix, 2 ); } } stopwatch.Stop(); } matchTime = stopwatch.ElapsedMilliseconds; } #endregion #region 그리기 - Draw(modelImage, sourceImage, matchTime) /// <summary> /// 그리기 /// </summary> /// <param name="modelImage">모델 이미지</param> /// <param name="sourceImage">소스 이미지</param> /// <param name="matchTime">매칭 시간</param> /// <returns>이미지</returns> public static Image<Bgr, Byte> Draw(Image<Gray, Byte> modelImage, Image<Gray, byte> sourceImage, out long matchTime) { HomographyMatrix homographyMatrix; VectorOfKeyPoint modelVectorOfKeyPoint; VectorOfKeyPoint sourceVectorOfKeyPoint; Matrix<int> indexMatrix; Matrix<byte> maskMatrix; FindMatch ( modelImage, sourceImage, out matchTime, out modelVectorOfKeyPoint, out sourceVectorOfKeyPoint, out indexMatrix, out maskMatrix, out homographyMatrix ); Image<Bgr, Byte> resultImage = Features2DToolbox.DrawMatches ( modelImage, modelVectorOfKeyPoint, sourceImage, sourceVectorOfKeyPoint, indexMatrix, new Bgr(255, 255, 255), new Bgr(255, 255, 255), maskMatrix, Features2DToolbox.KeypointDrawType.DEFAULT ); if(homographyMatrix != null) { Rectangle rectangle = modelImage.ROI; PointF[] pointArray = new PointF[] { new PointF(rectangle.Left , rectangle.Bottom), new PointF(rectangle.Right, rectangle.Bottom), new PointF(rectangle.Right, rectangle.Top ), new PointF(rectangle.Left , rectangle.Top ) }; homographyMatrix.ProjectPoints(pointArray); resultImage.DrawPolyline ( Array.ConvertAll<PointF, Point>(pointArray, Point.Round), true, new Bgr(Color.Red), 5 ); } return resultImage; } #endregion } } |
▶ Program.cs
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using System; using System.Windows.Forms; using Emgu.CV; using Emgu.CV.GPU; using Emgu.CV.Structure; using Emgu.CV.UI; namespace TestProject { /// <summary> /// 프로그램 /// </summary> static class Program { //////////////////////////////////////////////////////////////////////////////////////////////////// Method ////////////////////////////////////////////////////////////////////////////////////////// Static //////////////////////////////////////////////////////////////////////////////// Private #region 프로그램 시작하기 - Main() /// <summary> /// 프로그램 시작하기 /// </summary> [STAThread] private static void Main() { Application.EnableVisualStyles(); Application.SetCompatibleTextRenderingDefault(false); long matchTime; using(Image<Gray, Byte> modelImage = new Image<Gray, byte>("box.png")) { using(Image<Gray, Byte> sourceImage = new Image<Gray, byte>("box_in_scene.png")) { Image<Bgr, byte> resultImage = MatchHelper.Draw(modelImage, sourceImage, out matchTime); ImageViewer.Show ( resultImage, string.Format ( "{0}를 사용해 일치 여부 판단 : {1} 밀리초", GpuInvoke.HasCuda ? "GPU" : "CPU", matchTime ) ); } } } #endregion } } |
