public void DetectFeatures()
{
//const int numFeatures = 15;
//const double quality = 5000;
//const double minDistance = 50;
//const int blockSize = 11;
// note, the histogram is a property of the cloud itself and is updated when the cloud is created
// load depth image into something that emgucv likes
Image <Gray, Byte> depthImage = new Image <Gray, byte>(depthX, depthY);
// have to convert this to gray via luminosity
byte[] bytes = colorizedDepth.Select(x => (byte)(0.21 * x.r + 0.71 * x.g + 0.07 * x.b)).ToArray();
depthImage.Bytes = bytes;
// detect features of depth image using the fast detector
// I don't really feel like implementing a Harris detector
FastDetector fast = new FastDetector(10, true);
var keyPoints = fast.DetectKeyPoints(depthImage, null); // no mask because I don't know what that is
List <CloudPoint> cloudFeatures = new List <CloudPoint>();
foreach (var p in keyPoints)
{
cloudFeatures.Add(findCloudPoint((int)p.Point.X, (int)p.Point.Y));
}
FeatureTree = KdTree <CloudPoint> .Construct(4, cloudFeatures, x => x.ColorLocation());
}
private void FASTedges(Image <Bgr, byte> source, Bgr color)
{
MKeyPoint[] keyPoints = fastDetect.DetectKeyPoints(source.Convert <Gray, byte>(), null);
foreach (MKeyPoint keypt in keyPoints)
{
PointF pt = keypt.Point;
source.Draw(new CircleF(pt, 2), color, 2);
}
}
