SURF feature detector in CSharp

From Emgu CV: OpenCV in .NET (C#, VB, C++ and more)
Revision as of 03:52, 24 November 2010 by Breadwinka (talk | contribs) (Undo revision 991 by Inuxejiq (talk))
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This project is part of the Emgu.CV.Example solution

System Requirement

Component Requirement Detail
Emgu CV Version Alpha
Operation System Cross Platform

Source Code

using System;
using System.Collections.Generic;
using System.Windows.Forms;
using System.Drawing;
using Emgu.CV;
using Emgu.CV.UI;
using Emgu.CV.CvEnum;
using Emgu.CV.Structure;

namespace SURFFeatureExample
   static class Program
      /// <summary>
      /// The main entry point for the application.
      /// </summary>
      static void Main()

      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);

         Image<Gray, Byte> observedImage = new Image<Gray, byte>("box_in_scene.png");
         // extract features from the observed image
         SURFFeature[] imageFeatures = observedImage.ExtractSURF(ref surfParam);

         //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, 2, 20);
         matchedFeatures = SURFTracker.VoteForUniqueness(matchedFeatures, 0.8);
         matchedFeatures = SURFTracker.VoteForSizeAndOrientation(matchedFeatures, 1.5, 20);
         HomographyMatrix homography = SURFTracker.GetHomographyMatrixFromMatchedFeatures(matchedFeatures);

         //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 =;
            p.Y += modelImage.Height;
            res.Draw(new LineSegment2DF(matchedFeature.ModelFeatures[0], p), new Gray(0), 1);

         #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)};

            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);