public void TestCudaSURFKeypointDetection()
{
if (CudaInvoke.HasCuda)
{
Image <Gray, byte> image = new Image <Gray, byte>(200, 100);
image.SetRandUniform(new MCvScalar(), new MCvScalar(255));
GpuMat gpuMat = new GpuMat(image);
EmguAssert.IsTrue(gpuMat.ToMat().Equals(image.Mat));
CudaSURF cudaSurf = new CudaSURF(100.0f, 2, 4, false, 0.01f, false);
GpuMat cudaKpts = cudaSurf.DetectKeyPointsRaw(gpuMat, null);
VectorOfKeyPoint kpts = new VectorOfKeyPoint();
cudaSurf.DownloadKeypoints(cudaKpts, kpts);
}
}
private static Mat FindMatchWithCuda(Mat modelImage, Mat observedImage, VectorOfKeyPoint modelKeyPoints, VectorOfKeyPoint observedKeyPoints, VectorOfVectorOfDMatch matches, out Mat mask, Mat homography, int k, double uniquenessThreshold, double hessianThresh)
{
CudaSURF surfCuda = new CudaSURF((float)hessianThresh);
using (GpuMat gpuModelImage = new GpuMat(modelImage))
//extract features from the object image
using (GpuMat gpuModelKeyPoints = surfCuda.DetectKeyPointsRaw(gpuModelImage, null))
using (GpuMat gpuModelDescriptors = surfCuda.ComputeDescriptorsRaw(gpuModelImage, null, gpuModelKeyPoints))
using (CudaBFMatcher matcher = new CudaBFMatcher(DistanceType.L2))
{
surfCuda.DownloadKeypoints(gpuModelKeyPoints, modelKeyPoints);
// extract features from the observed image
using (GpuMat gpuObservedImage = new GpuMat(observedImage))
using (GpuMat gpuObservedKeyPoints = surfCuda.DetectKeyPointsRaw(gpuObservedImage, null))
using (GpuMat gpuObservedDescriptors = surfCuda.ComputeDescriptorsRaw(gpuObservedImage, null, gpuObservedKeyPoints))
//using (GpuMat tmp = new GpuMat())
//using (Stream stream = new Stream())
{
matcher.KnnMatch(gpuObservedDescriptors, gpuModelDescriptors, matches, k);
surfCuda.DownloadKeypoints(gpuObservedKeyPoints, observedKeyPoints);
mask = new Mat(matches.Size, 1, DepthType.Cv8U, 1);
mask.SetTo(new MCvScalar(255));
Features2DToolbox.VoteForUniqueness(matches, uniquenessThreshold, mask);
int nonZeroCount = CvInvoke.CountNonZero(mask);
if (nonZeroCount >= 4)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints,
matches, mask, 1.5, 20);
if (nonZeroCount >= 4)
{
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints,
observedKeyPoints, matches, mask, 2);
}
}
}
}
return(homography);
}
private static void DetectKeyPointsCuda(Image <Bgr, byte> image)
{
Console.WriteLine(CudaInvoke.HasCuda);
using (GpuMat <byte> gpuImage = new GpuMat <byte>(image.Mat))
{
CudaSURF surfDetector = new CudaSURF(400, 4, 2, false);
MKeyPoint[] features = surfDetector.DetectKeyPoints(gpuImage, null);
using (Image <Bgr, byte> imageWithFeatures = new Image <Bgr, byte>(image.Bitmap))
{
foreach (MKeyPoint mKeyPoint in features)
{
imageWithFeatures.Draw(".", new Point((int)mKeyPoint.Point.X, (int)mKeyPoint.Point.Y),
FontFace.HersheyComplex, 1, new Bgr(Color.Gray));
}
ImageViewer.Show(imageWithFeatures);
}
}
}
public static void FindMatch(Mat modelImage, Mat observedImage, out long matchTime, out VectorOfKeyPoint modelKeyPoints, out VectorOfKeyPoint observedKeyPoints, VectorOfVectorOfDMatch matches, out Mat mask, out Mat homography)
{
int k = 2;
double uniquenessThreshold = 0.8;
double hessianThresh = 300;
Stopwatch watch;
homography = null;
modelKeyPoints = new VectorOfKeyPoint();
observedKeyPoints = new VectorOfKeyPoint();
if (CudaInvoke.HasCuda)
{
CudaSURF surfCuda = new CudaSURF((float)hessianThresh);
using (GpuMat gpuModelImage = new GpuMat(modelImage))
//extract features from the object image
using (GpuMat gpuModelKeyPoints = surfCuda.DetectKeyPointsRaw(gpuModelImage, null))
using (GpuMat gpuModelDescriptors = surfCuda.ComputeDescriptorsRaw(gpuModelImage, null, gpuModelKeyPoints))
using (CudaBFMatcher matcher = new CudaBFMatcher(DistanceType.L2)) {
surfCuda.DownloadKeypoints(gpuModelKeyPoints, modelKeyPoints);
watch = Stopwatch.StartNew();
// extract features from the observed image
using (GpuMat gpuObservedImage = new GpuMat(observedImage))
using (GpuMat gpuObservedKeyPoints = surfCuda.DetectKeyPointsRaw(gpuObservedImage, null))
using (GpuMat gpuObservedDescriptors = surfCuda.ComputeDescriptorsRaw(gpuObservedImage, null, gpuObservedKeyPoints))
//using (GpuMat tmp = new GpuMat())
//using (Stream stream = new Stream())
{
matcher.KnnMatch(gpuObservedDescriptors, gpuModelDescriptors, matches, k);
surfCuda.DownloadKeypoints(gpuObservedKeyPoints, observedKeyPoints);
mask = new Mat(matches.Size, 1, DepthType.Cv8U, 1);
mask.SetTo(new MCvScalar(255));
Features2DToolbox.VoteForUniqueness(matches, uniquenessThreshold, mask);
int nonZeroCount = CvInvoke.CountNonZero(mask);
if (nonZeroCount >= 4)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints,
matches, mask, 1.5, 20);
if (nonZeroCount >= 4)
{
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints,
observedKeyPoints, matches, mask, 2);
}
}
}
watch.Stop();
}
}
else
{
using (UMat uModelImage = modelImage.GetUMat(AccessType.Read))
using (UMat uObservedImage = observedImage.GetUMat(AccessType.Read)) {
SURF surfCPU = new SURF(hessianThresh);
//extract features from the object image
UMat modelDescriptors = new UMat();
surfCPU.DetectAndCompute(uModelImage, null, modelKeyPoints, modelDescriptors, false);
watch = Stopwatch.StartNew();
// extract features from the observed image
UMat observedDescriptors = new UMat();
surfCPU.DetectAndCompute(uObservedImage, null, observedKeyPoints, observedDescriptors, false);
BFMatcher matcher = new BFMatcher(DistanceType.L2);
matcher.Add(modelDescriptors);
matcher.KnnMatch(observedDescriptors, matches, k, null);
mask = new Mat(matches.Size, 1, DepthType.Cv8U, 1);
mask.SetTo(new MCvScalar(255));
Features2DToolbox.VoteForUniqueness(matches, uniquenessThreshold, mask);
watch.Stop();
}
}
matchTime = watch.ElapsedMilliseconds;
}
/// <summary>
/// Finds matching points in the faces using SURF
/// </summary>
/// <param name="modelImage">
/// The model image.
/// </param>
/// <param name="observedImage">
/// The observed image.
/// </param>
/// <param name="matchTime">
/// The match time.
/// </param>
/// <param name="modelKeyPoints">
/// The model key points.
/// </param>
/// <param name="observedKeyPoints">
/// The observed key points.
/// </param>
/// <param name="matches">
/// The matches.
/// </param>
/// <param name="mask">
/// The mask.
/// </param>
/// <param name="homography">
/// The homography.
/// </param>
/// <param name="score">
/// The score.
/// </param>
private void FindMatch(
Mat modelImage,
Mat observedImage,
out long matchTime,
out VectorOfKeyPoint modelKeyPoints,
out VectorOfKeyPoint observedKeyPoints,
VectorOfVectorOfDMatch matches,
out Mat mask,
out Mat homography,
out long score)
{
int k = 2;
double uniquenessThreshold = 5;
Stopwatch watch;
homography = null;
mask = null;
score = 0;
modelKeyPoints = new VectorOfKeyPoint();
observedKeyPoints = new VectorOfKeyPoint();
if (Controller.Instance.Cuda)
{
CudaSURF surfGPU = new CudaSURF(700f, 4, 2, false);
using (CudaImage <Gray, byte> gpuModelImage = new CudaImage <Gray, byte>(modelImage))
//extract features from the object image
using (GpuMat gpuModelKeyPoints = surfGPU.DetectKeyPointsRaw(gpuModelImage, null))
using (GpuMat gpuModelDescriptors =
surfGPU.ComputeDescriptorsRaw(gpuModelImage, null, gpuModelKeyPoints))
using (CudaBFMatcher matcher = new CudaBFMatcher(DistanceType.L2))
{
surfGPU.DownloadKeypoints(gpuModelKeyPoints, modelKeyPoints);
watch = Stopwatch.StartNew();
// extract features from the observed image
using (CudaImage <Gray, Byte> gpuObservedImage = new CudaImage <Gray, byte>(observedImage))
using (GpuMat gpuObservedKeyPoints = surfGPU.DetectKeyPointsRaw(gpuObservedImage, null))
using (GpuMat gpuObservedDescriptors = surfGPU.ComputeDescriptorsRaw(
gpuObservedImage,
null,
gpuObservedKeyPoints))
using (GpuMat <int> gpuMatchIndices = new GpuMat <int>(
gpuObservedDescriptors.Size.Height,
k,
1,
true))
using (GpuMat <float> gpuMatchDist = new GpuMat <float>(
gpuObservedDescriptors.Size.Height,
k,
1,
true))
//using (GpuMat<Byte> gpuMask = new GpuMat<byte>(gpuMatchIndices.Size.Height, 1, 1))
using (Emgu.CV.Cuda.Stream stream = new Emgu.CV.Cuda.Stream())
{
matcher.KnnMatch(gpuObservedDescriptors, gpuModelDescriptors, matches, k, null);
//indices = new Matrix<int>(gpuMatchIndices.Size);
//mask = new Matrix<byte>(gpuMask.Size);
mask = new Mat(matches.Size, 1, DepthType.Cv8U, 1);
mask.SetTo(new MCvScalar(255));
surfGPU.DownloadKeypoints(gpuObservedKeyPoints, observedKeyPoints);
/*//gpu implementation of voteForUniquess
* using (GpuMat col0 = gpuMatchDist.Col(0))
* using (GpuMat col1 = gpuMatchDist.Col(1))
* {
* CudaInvoke.Multiply(col1, new GpuMat(), col1, 1, DepthType.Default, stream);
* CudaInvoke.Compare(col0, col1, mask, CmpType.LessEqual, stream);
* }*/
Features2DToolbox.VoteForUniqueness(matches, uniquenessThreshold, mask);
//wait for the stream to complete its tasks
//We can perform some other CPU intesive stuffs here while we are waiting for the stream to complete.
stream.WaitForCompletion();
//gpuMatchIndices.Download(indices);
if (CudaInvoke.CountNonZero(mask) >= 4)
{
int nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(
modelKeyPoints,
observedKeyPoints,
matches,
mask,
1.5,
20);
if (nonZeroCount >= 4)
{
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(
modelKeyPoints,
observedKeyPoints,
matches,
mask,
2);
}
}
watch.Stop();
}
for (int i = 0; i < matches.Size; i++)
{
score++;
}
}
}
//else
//{
// SURF surfCPU = new SURF(500, 4, 2, false);
// //extract features from the object image
// modelKeyPoints = new VectorOfKeyPoint();
// Matrix<float> modelDescriptors = surfCPU.DetectAndCompute(modelImage, null, modelKeyPoints);
// watch = Stopwatch.StartNew();
// // extract features from the observed image
// observedKeyPoints = new VectorOfKeyPoint();
// Matrix<float> observedDescriptors = surfCPU.DetectAndCompute(observedImage, null, observedKeyPoints);
// BFMatcher matcher = new BFMatcher<float>(DistanceType.L2);
// matcher.Add(modelDescriptors);
// indices = new Matrix<int>(observedDescriptors.Rows, k);
// using (Matrix<float> dist = new Matrix<float>(observedDescriptors.Rows, k))
// {
// matcher.KnnMatch(observedDescriptors, indices, dist, k, null);
// mask = new Matrix<byte>(dist.Rows, 1);
// mask.SetValue(255);
// Features2DToolbox.VoteForUniqueness(dist, uniquenessThreshold, mask);
// }
// int nonZeroCount = CvInvoke.cvCountNonZero(mask);
// if (nonZeroCount >= 4)
// {
// nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
// if (nonZeroCount >= 4)
// homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, indices, mask, 2);
// }
// watch.Stop();
//}
matchTime = 0;
}
/// <summary>
/// Detect image using SURF
/// </summary>
/// <param name="modelImage"></param>
/// <param name="observedImage"></param>
/// <param name="modelKeyPoints"></param>
/// <param name="observedKeyPoints"></param>
/// <param name="matches"></param>
/// <param name="mask"></param>
/// <param name="homography"></param>
public static void FindMatch(Mat modelImage, Mat observedImage, out VectorOfKeyPoint modelKeyPoints, out VectorOfKeyPoint observedKeyPoints, VectorOfVectorOfDMatch matches, out Mat mask, out Mat homography, out int score)
{
int k = 2;
double uniquenessThreshold = 0.8;
double hessianThresh = 300;
homography = null;
modelKeyPoints = new VectorOfKeyPoint();
observedKeyPoints = new VectorOfKeyPoint();
if (CudaInvoke.HasCuda)
{
CudaSURF surfCuda = new CudaSURF((float)hessianThresh);
using (GpuMat gpuModelImage = new GpuMat(modelImage))
//extract features from the object image
using (GpuMat gpuModelKeyPoints = surfCuda.DetectKeyPointsRaw(gpuModelImage, null))
using (GpuMat gpuModelDescriptors = surfCuda.ComputeDescriptorsRaw(gpuModelImage, null, gpuModelKeyPoints))
using (CudaBFMatcher matcher = new CudaBFMatcher(DistanceType.L2))
{
surfCuda.DownloadKeypoints(gpuModelKeyPoints, modelKeyPoints);
// extract features from the observed image
using (GpuMat gpuObservedImage = new GpuMat(observedImage))
using (GpuMat gpuObservedKeyPoints = surfCuda.DetectKeyPointsRaw(gpuObservedImage, null))
using (GpuMat gpuObservedDescriptors = surfCuda.ComputeDescriptorsRaw(gpuObservedImage, null, gpuObservedKeyPoints))
//using (GpuMat tmp = new GpuMat())
//using (Stream stream = new Stream())
{
matcher.KnnMatch(gpuObservedDescriptors, gpuModelDescriptors, matches, k);
surfCuda.DownloadKeypoints(gpuObservedKeyPoints, observedKeyPoints);
mask = new Mat(matches.Size, 1, DepthType.Cv8U, 1);
mask.SetTo(new MCvScalar(255));
Features2DToolbox.VoteForUniqueness(matches, uniquenessThreshold, mask);
score = 0;
for (int i = 0; i < matches.Size; i++)
{
if ((byte)mask.GetData().GetValue(i, 0) == 0)
{
continue;
}
foreach (var e in matches[i].ToArray())
{
++score;
}
}
int nonZeroCount = CvInvoke.CountNonZero(mask);
if (nonZeroCount >= 4)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints,
matches, mask, 1.5, 20);
if (nonZeroCount >= 4)
{
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints,
observedKeyPoints, matches, mask, 2);
}
}
}
}
}
else
{
using (UMat uModelImage = modelImage.GetUMat(AccessType.Read))
using (UMat uObservedImage = observedImage.GetUMat(AccessType.Read))
{
SURF surfCPU = new SURF(hessianThresh);
//extract features from the object image
UMat modelDescriptors = new UMat();
surfCPU.DetectAndCompute(uModelImage, null, modelKeyPoints, modelDescriptors, false);
// extract features from the observed image
UMat observedDescriptors = new UMat();
surfCPU.DetectAndCompute(uObservedImage, null, observedKeyPoints, observedDescriptors, false);
BFMatcher matcher = new BFMatcher(DistanceType.L2);
matcher.Add(modelDescriptors);
matcher.KnnMatch(observedDescriptors, matches, k, null);
mask = new Mat(matches.Size, 1, DepthType.Cv8U, 1);
mask.SetTo(new MCvScalar(255));
Features2DToolbox.VoteForUniqueness(matches, uniquenessThreshold, mask);
score = 0;
for (int i = 0; i < matches.Size; i++)
{
//if (mask.GetData(true)[0] == 0) continue;
foreach (var e in matches[i].ToArray())
{
++score;
}
}
int nonZeroCount = CvInvoke.CountNonZero(mask);
if (nonZeroCount >= 4)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints,
matches, mask, 1.5, 20);
if (nonZeroCount >= 4)
{
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints,
observedKeyPoints, matches, mask, 2);
}
}
}
}
}
public static void FindMatch(Mat modelImage, Mat observedImage, out long matchTime, out VectorOfKeyPoint modelKeyPoints,
out VectorOfKeyPoint observedKeyPoints, VectorOfVectorOfDMatch matches, out Mat mask, out Mat homography, double hessianThresh)
{
int k = 2;
double uniquenessThreshold = 0.8;
//double hessianThresh = 300;设置阈值，这个值越大，最终的特征点越少
Stopwatch sw;
homography = null;
modelKeyPoints = new VectorOfKeyPoint();
observedKeyPoints = new VectorOfKeyPoint();
#if !__IOS__
//判断是否存在NVIDIA显卡，如果存在就是使用GPU进行计算
if (CudaInvoke.HasCuda)
{
//SURF算法
//创建一个CudaSurf 侦测器
CudaSURF surfCuda = new CudaSURF((float)hessianThresh);
//在Gpu中 使用GpuMat 来替代cv::Mat
using (GpuMat gpuModelImage = new GpuMat(modelImage))
//从图像中提取特征点
using (GpuMat gpuModelKeyPoints = surfCuda.DetectKeyPointsRaw(gpuModelImage, null))
//创建特征点描述器
using (GpuMat gupModelDescriptors = surfCuda.ComputeDescriptorsRaw(gpuModelImage, null, gpuModelKeyPoints))
//创建匹配器
using (CudaBFMatcher matcher = new CudaBFMatcher(DistanceType.L2))
{
surfCuda.DownloadKeypoints(gpuModelKeyPoints, modelKeyPoints);
sw = Stopwatch.StartNew();
using (GpuMat gpuObservedImage = new GpuMat(observedImage))
using (GpuMat gpuObservedKeyPoints = surfCuda.DetectKeyPointsRaw(gpuObservedImage, null))
using (GpuMat gpuObservedDescriptors = surfCuda.ComputeDescriptorsRaw(gpuObservedImage, null, gpuObservedKeyPoints))
//using (GpuMat tmp = new GpuMat())
//using (Stream stream = new Stream())
{
matcher.KnnMatch(gpuObservedDescriptors, gpuObservedDescriptors, matches, k);
surfCuda.DownloadKeypoints(gpuModelKeyPoints, observedKeyPoints);
mask = new Mat(matches.Size, 1, DepthType.Cv8U, 1);
mask.SetTo(new MCvScalar(255));
//过滤匹配特征，，如果匹配点是比较罕见，那么就剔除
Features2DToolbox.VoteForUniqueness(matches, uniquenessThreshold, mask);
//返回数组中的非零元素
int nonZeroCount = CvInvoke.CountNonZero(mask);
if (nonZeroCount >= 4)
{
//剔除
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, matches, mask, 1.5, 20);
if (nonZeroCount >= 4)
{
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, matches, mask, 2);
}
}
}
sw.Stop();
}
}
else
#endif
{
using (UMat uModelImage = modelImage.ToUMat(AccessType.Read))
using (UMat uObservedImage = observedImage.ToUMat(AccessType.Read)) {
//创建surf算法器
SURF surfCPU = new SURF(hessianThresh);
//从源的图像提取描述符
UMat modelDescriptors = new UMat();
surfCPU.DetectAndCompute(uModelImage, null, modelKeyPoints, modelDescriptors, false);
sw = Stopwatch.StartNew();
//从观察图像中提取描述器
UMat observedDescriptors = new UMat();
surfCPU.DetectAndCompute(uObservedImage, null, observedKeyPoints, observedDescriptors, false);
//Brute Force匹配
BFMatcher matcher = new BFMatcher(DistanceType.L2);
matcher.Add(modelDescriptors);
//matches:VectorOfVectorOfDMatch
//observedDescriptors:VectorOfKeyPoint
matcher.KnnMatch(observedDescriptors, matches, k, null);
mask = new Mat(matches.Size, 1, DepthType.Cv8U, 1);
mask.SetTo(new MCvScalar(255));
//过滤匹配特征，，如果匹配点是比较罕见，那么就剔除
Features2DToolbox.VoteForUniqueness(matches, uniquenessThreshold, mask);
//返回数组中的非零元素
int nonZeroCount = CvInvoke.CountNonZero(mask);
if (nonZeroCount >= 4)
{
//剔除那些旋转和缩放不与大多数匹配和旋转统一的特征点
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, matches, mask, 1.5, 20);
if (nonZeroCount >= 4)
{
//使用RANDSAC算法获取单应性矩阵，如果矩阵不能恢复，返回null
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, matches, mask, 2);
}
}
sw.Stop();
}
}
matchTime = sw.ElapsedMilliseconds;
}
