private void FindKeypoint(int ID, InputFileModel inputFile, IFeatureDetector detector, bool AddToList = true)
{
WindowsFormHelper.AddLogToConsole($"Start finding key points for: {inputFile.fileInfo.Name.ToString()}\n");
var detectedKeyPoints = detector.DetectKeyPoints(new Mat(inputFile.fileInfo.FullName));
if (AddToList)
{
DetectedKeyPoints.Add(ID, new KeyPointModel()
{
DetectedKeyPoints = new VectorOfKeyPoint(detectedKeyPoints),
InputFile = inputFile,
ID = ID
}
);
}
WindowsFormHelper.AddLogToConsole($"FINISH finding key points for: {inputFile.fileInfo.Name.ToString()}\n");
// Save drawing image
Mat output = new Mat();
Directory.CreateDirectory($@"{tempDirectory}\DrawKeypoint");
Features2DToolbox.DrawKeypoints(new Mat(inputFile.fileInfo.FullName), new VectorOfKeyPoint(detectedKeyPoints), output, new Bgr(0, 0, 255), KeypointDrawType.DrawRichKeypoints);
output.Save(Path.Combine($@"{tempDirectory}\DrawKeypoint", $"{Path.GetFileNameWithoutExtension(inputFile.fileInfo.Name)}.JPG"));
fileManager.listViewerModel._lastDrawnKeypoint = new Image <Bgr, byte>(output.Bitmap);
var file = new InputFileModel(Path.Combine($@"{tempDirectory}\DrawKeypoint", $"{Path.GetFileNameWithoutExtension(inputFile.fileInfo.Name)}.JPG"));
var imageList = _winForm.ImageList[(int)EListViewGroup.DrawnKeyPoint];
var listViewer = _winForm.ListViews[(int)EListViewGroup.DrawnKeyPoint];
fileManager.AddInputFileToList(file, fileManager.listViewerModel.ListOfListInputFolder[(int)EListViewGroup.DrawnKeyPoint], imageList, listViewer);
}
public void Match(IInputArray queryDescriptors, IInputArray trainDescriptors, VectorOfVectorOfDMatch matches)
{
Monitor.Enter(locker);
WindowsFormHelper.AddLogToConsole("In monitor");
var _cudaBruteForceMatcher = CreateMatcher();
var left = new GpuMat(queryDescriptors as Mat);
var right = new GpuMat(trainDescriptors as Mat);
_cudaBruteForceMatcher.KnnMatch(right, left, matches, 1);
left.Dispose();
right.Dispose();
_cudaBruteForceMatcher.Dispose();
WindowsFormHelper.AddLogToConsole("Exit monitor");
Monitor.Exit(locker);
}
public MainForm()
{
InitializeComponent();
cameraManager = new CameraManager(this);
fileManager = new FileManager(this, cameraManager);
displayManager = new DisplayManager(this, fileManager, cameraManager);
stereoVisionManager = new StereoVisionManager(fileManager, displayManager, cameraManager, this);
structureFromMotionManager = new SfM(fileManager, displayManager, this, cameraManager);
mainFormManager = new MainFormManager(this, displayManager, fileManager, stereoVisionManager, structureFromMotionManager, cameraManager);
WindowsFormHelper.SetWinForm(this);
InitializeStringForComponents();
Application.Idle += new EventHandler(displayManager.Display);
}
private void ComputeDescriptor(KeyPointModel keypoint, IFeatureDescriptor descriptor, bool AddToList = true, bool SaveOnDisk = true)
{
WindowsFormHelper.AddLogToConsole($"Start computing descriptor for: {keypoint.InputFile.fileInfo.Name.ToString()}\n");
var computedDescriptor = descriptor.ComputeDescriptor(keypoint);
var descriptorNode = new DescriptorModel()
{
Descriptors = computedDescriptor,
KeyPoint = keypoint
};
WindowsFormHelper.AddLogToConsole($"FINISH computing descriptor for: {keypoint.InputFile.fileInfo.Name.ToString()}\n");
if (AddToList)
{
ComputedDescriptors.Add(keypoint.ID, descriptorNode);
}
if (SaveOnDisk)
{
SaveSiftFile(descriptorNode);
}
}
private void trackBar_ValueChangedMultiple16(object sender, EventArgs e)
{
WindowsFormHelper.trackBar_ValueChangedMultiple16(sender as TrackBar, toolTip1, GetPropertiesAndSetModel);
}
private void FindMatches(IFeatureMatcher matcher, DescriptorModel leftDescriptor, DescriptorModel rightDescriptor, bool AddToList = true, bool FilterMatches = true, bool ComputeHomography = true, bool SaveInMatchNode = true)
{
WindowsFormHelper.AddLogToConsole($"Start computing matches for: \n" +
$"\t{leftDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n" +
$"\t{rightDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n");
var foundedMatch = new DescriptorsMatchModel()
{
FilteredMatch = FilterMatches,
LeftDescriptor = leftDescriptor,
RightDescriptor = rightDescriptor
};
var matches = new VectorOfVectorOfDMatch();
matcher.Match(leftDescriptor.Descriptors, rightDescriptor.Descriptors, matches);
WindowsFormHelper.AddLogToConsole(
$"FINISH computing matches for: \n" +
$"\t{leftDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n" +
$"\t{rightDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n"
);
MDMatch[][] matchesArray = matches.ToArrayOfArray();
foundedMatch.MatchesList = matchesArray.ToList();
if (FilterMatches)
{
FindMinMaxDistInMatches(matchesArray, ref ms_MAX_DIST, ref ms_MIN_DIST);
List <MDMatch[]> filteredMatchesList = FilterMatchesByMaxDist(matchesArray);
foundedMatch.FilteredMatchesList = filteredMatchesList;
}
if (ComputeHomography)
{
var PerspectiveMatrix = new Mat();
Mat Mask = new Mat();
lock (locker)
{
var matchesForHomography = FilterMatches ? foundedMatch.FilteredMatchesList : foundedMatch.MatchesList;
if (matchesForHomography.Count > 0)
{
PerspectiveMatrix = FindHomography(leftDescriptor.KeyPoint.DetectedKeyPoints, rightDescriptor.KeyPoint.DetectedKeyPoints, FilterMatches ? foundedMatch.FilteredMatchesList : foundedMatch.MatchesList, Mask);
foundedMatch.Mask = Mask;
foundedMatch.PerspectiveMatrix = PerspectiveMatrix;
}
}
}
// Save drawing image
Mat output = new Mat();
Directory.CreateDirectory($@"{tempDirectory}\DrawMatches");
Features2DToolbox.DrawMatches(new Mat(foundedMatch.LeftDescriptor.KeyPoint.InputFile.fileInfo.FullName), foundedMatch.LeftDescriptor.KeyPoint.DetectedKeyPoints, new Mat(foundedMatch.RightDescriptor.KeyPoint.InputFile.fileInfo.FullName), foundedMatch.RightDescriptor.KeyPoint.DetectedKeyPoints, new VectorOfVectorOfDMatch(foundedMatch.FilteredMatchesList.ToArray()), output, new MCvScalar(0, 0, 255), new MCvScalar(0, 255, 0), foundedMatch.Mask);
output.Save(Path.Combine($@"{tempDirectory}\DrawMatches", $"{Path.GetFileNameWithoutExtension(foundedMatch.RightDescriptor.KeyPoint.InputFile.fileInfo.Name)}-{Path.GetFileNameWithoutExtension(foundedMatch.LeftDescriptor.KeyPoint.InputFile.fileInfo.Name)}.JPG"));
fileManager.listViewerModel._lastDrawnMatches = new Image <Bgr, byte>(output.Bitmap);
var inputFile = new InputFileModel(Path.Combine($@"{tempDirectory}\DrawMatches", $"{Path.GetFileNameWithoutExtension(foundedMatch.RightDescriptor.KeyPoint.InputFile.fileInfo.Name)}-{Path.GetFileNameWithoutExtension(foundedMatch.LeftDescriptor.KeyPoint.InputFile.fileInfo.Name)}.JPG"));
var imageList = _winForm.ImageList[(int)EListViewGroup.DrawnMatches];
var listViewer = _winForm.ListViews[(int)EListViewGroup.DrawnMatches];
fileManager.AddInputFileToList(inputFile, fileManager.listViewerModel.ListOfListInputFolder[(int)EListViewGroup.DrawnMatches], imageList, listViewer);
if (SaveInMatchNode)
{
SaveMatchString(foundedMatch, true);
}
if (AddToList)
{
FoundedMatches.Add(foundedMatch);
}
}
