/// <summary>
/// Draw keypoint matches from two images on the output image.
/// </summary>
/// <param name="image1">The first image.</param>
/// <param name="keyPoints1">The collection of keypoints from the first image.</param>
/// <param name="image2">The second image.</param>
/// <param name="keyPoints2">The collection of keypoints from the second image.</param>
/// <param name="matches">The matches from the first image to the second image.</param>
/// <param name="outImage">The image where the keypoint matches are to be drawn.</param>
public static void DrawMatches(
Arr image1, KeyPointCollection keyPoints1,
Arr image2, KeyPointCollection keyPoints2,
DMatchCollection matches, Arr outImage)
{
DrawMatches(image1, keyPoints1, image2, keyPoints2, matches, outImage, Scalar.All(-1));
}
/// <summary>
/// Converts a collection of keypoints to an array of points.
/// </summary>
/// <param name="keyPoints">The collection of keypoints to convert.</param>
/// <returns>The array of converted keypoints.</returns>
public static Point2f[] Convert(KeyPointCollection keyPoints)
{
var points = new Point2f[keyPoints.Count];
Convert(keyPoints, points);
return(points);
}
/// <summary>
/// Converts a collection of keypoints to an array of points.
/// </summary>
/// <param name="keyPoints">The collection of keypoints to convert.</param>
/// <param name="points">The array of points that is the destination of the converted keypoints.</param>
/// <param name="keyPointIndices">The optional array containing the keypoint indices to convert.</param>
public static void Convert(KeyPointCollection keyPoints, Point2f[] points, int[] keyPointIndices)
{
using (var pointVector = new Point2fCollection())
using (var indexVector = keyPointIndices != null ? new Int32Collection(keyPointIndices) : null)
{
Convert(keyPoints, pointVector, indexVector);
pointVector.CopyTo(points);
}
}
/// <summary>
/// Detects keypoints in the specified input image.
/// </summary>
/// <param name="detector">The feature detector used to find image keypoints.</param>
/// <param name="image">The image on which to detect keypoints.</param>
/// <param name="mask">The optional operation mask used to specify where to look for keypoints.</param>
/// <returns>The collection of detected keypoints.</returns>
public static KeyPointCollection Detect(this IFeatureDetector detector, Arr image, Arr mask = null)
{
if (detector == null)
{
throw new ArgumentNullException("detector");
}
var keyPoints = new KeyPointCollection();
detector.Detect(image, keyPoints, mask);
return(keyPoints);
}
/// <summary>
/// Converts an array of points to a collection of keypoints, where each
/// keypoint is assigned the same size, response and orientation.
/// </summary>
/// <param name="points">The array of points to convert.</param>
/// <param name="size">The shared size of the converted keypoints.</param>
/// <param name="response">The shared response of the converted keypoints.</param>
/// <param name="octave">The shared octave, or pyramid level, of the converted keypoints.</param>
/// <param name="classId">The shared class id of the converted keypoints.</param>
/// <returns>The collection of converted keypoints.</returns>
public static KeyPointCollection Convert(
Point2f[] points,
float size = 1,
float response = 1,
int octave = 0,
int classId = -1)
{
var keyPoints = new KeyPointCollection();
Convert(points, keyPoints, size, response, octave, classId);
return(keyPoints);
}
/// <summary>
/// Converts an array of points to a collection of keypoints, where each
/// keypoint is assigned the same size, response and orientation.
/// </summary>
/// <param name="points">The array of points to convert.</param>
/// <param name="keyPoints">The collection that is the destination of the converted keypoints.</param>
/// <param name="size">The shared size of the converted keypoints.</param>
/// <param name="response">The shared response of the converted keypoints.</param>
/// <param name="octave">The shared octave, or pyramid level, of the converted keypoints.</param>
/// <param name="classId">The shared class id of the converted keypoints.</param>
public static void Convert(
Point2f[] points,
KeyPointCollection keyPoints,
float size = 1,
float response = 1,
int octave = 0,
int classId = -1)
{
using (var vector = new Point2fCollection(points))
{
Convert(vector, keyPoints, size, response, octave, classId);
}
}
/// <summary>
/// Converts a collection of points to a collection of keypoints, where each
/// keypoint is assigned the same size, response and orientation.
/// </summary>
/// <param name="points">The collection of points to convert.</param>
/// <param name="keyPoints">The collection that is the destination of the converted keypoints.</param>
/// <param name="size">The shared size of the converted keypoints.</param>
/// <param name="response">The shared response of the converted keypoints.</param>
/// <param name="octave">The shared octave, or pyramid level, of the converted keypoints.</param>
/// <param name="classId">The shared class id of the converted keypoints.</param>
public static void Convert(
Point2fCollection points,
KeyPointCollection keyPoints,
float size = 1,
float response = 1,
int octave = 0,
int classId = -1)
{
NativeMethods.cv_features2d_KeyPoint_convert_vector_Point2f(
points,
keyPoints,
size,
response,
octave,
classId);
}
/// <summary>
/// Draw keypoint matches from two images on the output image.
/// </summary>
/// <param name="image1">The first image.</param>
/// <param name="keyPoints1">The collection of keypoints from the first image.</param>
/// <param name="image2">The second image.</param>
/// <param name="keyPoints2">The collection of keypoints from the second image.</param>
/// <param name="matches">The matches from the first image to the second image.</param>
/// <param name="outImage">The image where the keypoint matches are to be drawn.</param>
/// <param name="matchColor">The color used for drawing successful matches.</param>
/// <param name="singlePointColor">The color used for drawing unmatched keypoints.</param>
/// <param name="matchesMask">The optional mask specifying which matches are drawn.</param>
/// <param name="flags">Optional operation flags specifying how the matches are to be drawn.</param>
public static void DrawMatches(
Arr image1, KeyPointCollection keyPoints1,
Arr image2, KeyPointCollection keyPoints2,
DMatchCollection matches, Arr outImage,
Scalar matchColor,
Scalar singlePointColor,
ByteCollection matchesMask = null,
DrawMatchesFlags flags = DrawMatchesFlags.None)
{
NativeMethods.cv_features2d_drawMatches(
image1, keyPoints1,
image2, keyPoints2,
matches, outImage,
matchColor, singlePointColor,
matchesMask ?? ByteCollection.Null, flags);
}
/// <summary>
/// Computes the descriptors for a set of keypoints in an image.
/// </summary>
/// <param name="extractor">The descriptor extractor used to compute keypoint descriptors.</param>
/// <param name="image">The image from which to extract keypoint descriptors.</param>
/// <param name="keyPoints">
/// The keypoints for which to extract descriptors. Keypoints for which a
/// descriptor cannot be computed are removed.
/// </param>
/// <returns>The array of descriptors computed for the specified set of keypoints.</returns>
public static Mat Compute(this IDescriptorExtractor extractor, Arr image, KeyPointCollection keyPoints)
{
if (extractor == null)
{
throw new ArgumentNullException("extractor");
}
if (keyPoints == null)
{
throw new ArgumentNullException("keyPoints");
}
var descriptors = new Mat(keyPoints.Count, extractor.DescriptorSize, extractor.DescriptorType);
extractor.Compute(image, keyPoints, descriptors);
if (descriptors.Rows != keyPoints.Count)
{
descriptors = descriptors.GetSubRect(new Rect(0, 0, descriptors.Cols, keyPoints.Count));
}
return(descriptors);
}
/// <summary>
/// Converts a collection of keypoints to a collection of points.
/// </summary>
/// <param name="keyPoints">The collection of keypoints to convert.</param>
/// <param name="points">The collection of points that is the destination of the converted keypoints.</param>
/// <param name="keyPointIndices">The optional collection of the keypoint indices to convert.</param>
public static void Convert(KeyPointCollection keyPoints, Point2fCollection points, Int32Collection keyPointIndices)
{
NativeMethods.cv_features2d_KeyPoint_convert_vector_KeyPoint(keyPoints, points, keyPointIndices ?? Int32Collection.Null);
}
/// <summary>
/// Converts a collection of keypoints to a collection of points.
/// </summary>
/// <param name="keyPoints">The collection of keypoints to convert.</param>
/// <param name="points">The collection of points that is the destination of the converted keypoints.</param>
public static void Convert(KeyPointCollection keyPoints, Point2fCollection points)
{
Convert(keyPoints, points, null);
}
/// <summary> /// Detects keypoints in the specified input image. /// </summary> /// <param name="image">The image on which to detect keypoints.</param> /// <param name="keyPoints">The collection that will contain the set of detected keypoints.</param> /// <param name="mask">The optional operation mask used to specify where to look for keypoints.</param> public abstract void Detect(Arr image, KeyPointCollection keyPoints, Arr mask = null);
/// <summary>
/// Retain the specified number of best keypoints, sorted by their response.
/// </summary>
/// <param name="keyPoints">The collection of keypoints to filter.</param>
/// <param name="numPoints">The number of points to retain.</param>
public static void RetainBest(KeyPointCollection keyPoints, int numPoints)
{
NativeMethods.cv_features2d_KeyPointsFilter_retainBest(keyPoints, numPoints);
}
/// <summary>
/// Remove duplicated keypoints.
/// </summary>
/// <param name="keyPoints">The collection of keypoints to filter.</param>
public static void RemoveDuplicated(KeyPointCollection keyPoints)
{
NativeMethods.cv_features2d_KeyPointsFilter_removeDuplicated(keyPoints);
}
/// <summary>
/// Detects corners using the FAST algorithm.
/// </summary>
/// <param name="image">The image on which to detect keypoints.</param>
/// <param name="keyPoints">The collection that will contain the set of detected keypoints.</param>
/// <param name="threshold">
/// The threshold applied to the difference between the intensity of each central pixel
/// and the pixels lying in a circle around this pixel.
/// </param>
/// <param name="nonMaxSuppression">Specifies whether to apply non-maximum suppression on detected corners.</param>
/// <param name="type">The type of pixel neighborhood.</param>
public static void FAST(Arr image, KeyPointCollection keyPoints, int threshold, bool nonMaxSuppression, FastDetectorType type)
{
NativeMethods.cv_features2d_FASTX(image, keyPoints, threshold, nonMaxSuppression, type);
}
/// <summary>
/// Computes the descriptors for a set of keypoints in an image.
/// </summary>
/// <param name="image">The image from which to extract keypoint descriptors.</param>
/// <param name="keyPoints">
/// The keypoints for which to extract descriptors. Keypoints for which a
/// descriptor cannot be computed are removed.
/// </param>
/// <param name="descriptors">
/// The array of descriptors computed for the specified set of keypoints.
/// </param>
public override void Compute(Arr image, KeyPointCollection keyPoints, Arr descriptors)
{
NativeMethods.cv_features2d_BRISK_compute(this, image, keyPoints, descriptors);
}
/// <summary>
/// Detects keypoints in the specified input image.
/// </summary>
/// <param name="image">The image on which to detect keypoints.</param>
/// <param name="keyPoints">The collection that will contain the set of detected keypoints.</param>
/// <param name="mask">The optional operation mask used to specify where to look for keypoints.</param>
public override void Detect(Arr image, KeyPointCollection keyPoints, Arr mask = null)
{
NativeMethods.cv_features2d_BRISK_detect(this, image, keyPoints, mask ?? Arr.Null);
}
/// <summary> /// Computes the descriptors for a set of keypoints in an image. /// </summary> /// <param name="image">The image from which to extract keypoint descriptors.</param> /// <param name="keyPoints"> /// The keypoints for which to extract descriptors. Keypoints for which a /// descriptor cannot be computed are removed. /// </param> /// <param name="descriptors"> /// The array of descriptors computed for the specified set of keypoints. /// </param> public abstract void Compute(Arr image, KeyPointCollection keyPoints, Arr descriptors);
/// <summary>
/// Draws a visual representation of detected keypoints in an image.
/// </summary>
/// <param name="image">The image on which the keypoints were detected.</param>
/// <param name="keyPoints">The collection of keypoints to draw.</param>
/// <param name="output">The image where the keypoints are to be drawn.</param>
/// <param name="color">The color of the keypoints.</param>
/// <param name="flags">Optional operation flags specifying how the keypoints are to be drawn.</param>
public static void DrawKeypoints(Arr image, KeyPointCollection keyPoints, Arr output, Scalar color, DrawMatchesFlags flags = DrawMatchesFlags.None)
{
NativeMethods.cv_features2d_drawKeypoints(image, keyPoints, output, color, flags);
}
/// <summary>
/// Draws a visual representation of detected keypoints in an image.
/// </summary>
/// <param name="image">The image on which the keypoints were detected.</param>
/// <param name="keyPoints">The collection of keypoints to draw.</param>
/// <param name="output">The image where the keypoints are to be drawn.</param>
public static void DrawKeypoints(Arr image, KeyPointCollection keyPoints, Arr output)
{
DrawKeypoints(image, keyPoints, output, Scalar.All(-1));
}
/// <summary>
/// Remove keypoints with sizes outside of the specified range.
/// </summary>
/// <param name="keyPoints">The collection of keypoints to filter.</param>
/// <param name="minSize">The minimum size of the keypoints.</param>
/// <param name="maxSize">The maximum size of the keypoints.</param>
public static void RunByKeypointSize(KeyPointCollection keyPoints, float minSize, float maxSize = float.MaxValue)
{
NativeMethods.cv_features2d_KeyPointsFilter_runByKeypointSize(keyPoints, minSize, maxSize);
}
/// <summary>
/// Remove keypoints by checking whether they lie in the specified pixel operation mask.
/// </summary>
/// <param name="keyPoints">The collection of keypoints to filter.</param>
/// <param name="mask">The operation mask used to filter the keypoints</param>
public static void RunByPixelsMask(KeyPointCollection keyPoints, Arr mask)
{
NativeMethods.cv_features2d_KeyPointsFilter_runByPixelsMask(keyPoints, mask);
}
/// <summary>
/// Remove keypoints which lie within <paramref name="borderSize"/> of an image edge.
/// </summary>
/// <param name="keyPoints">The collection of keypoints to filter.</param>
/// <param name="imageSize">The size of the input image.</param>
/// <param name="borderSize">
/// The minimum number of pixels by which keypoints should be
/// away from the image edge.
/// </param>
public static void RunByImageBorder(KeyPointCollection keyPoints, Size imageSize, int borderSize)
{
NativeMethods.cv_features2d_KeyPointsFilter_runByImageBorder(keyPoints, imageSize, borderSize);
}
/// <summary>
/// Detects corners using the FAST algorithm.
/// </summary>
/// <param name="image">The image on which to detect keypoints.</param>
/// <param name="keyPoints">The collection that will contain the set of detected keypoints.</param>
/// <param name="threshold">
/// The threshold applied to the difference between the intensity of each central pixel
/// and the pixels lying in a circle around this pixel.
/// </param>
/// <param name="nonMaxSuppression">Specifies whether to apply non-maximum suppression on detected corners.</param>
public static void FAST(Arr image, KeyPointCollection keyPoints, int threshold, bool nonMaxSuppression = true)
{
NativeMethods.cv_features2d_FAST(image, keyPoints, threshold, nonMaxSuppression);
}