/// <summary>
/// Match the Image feature from the observed image to the features from the model image
/// </summary>
/// <param name="observedFeatures">The Image feature from the observed image</param>
/// <param name="k">The number of neighbors to find</param>
/// <returns>The matched features</returns>
public MatchedImageFeature[] MatchFeature(ImageFeature[] observedFeatures, int k)
{
VectorOfKeyPoint obsKpts;
Matrix <float> obsDscpts;
ConvertFromImageFeature(observedFeatures, out obsKpts, out obsDscpts);
using (BruteForceMatcher matcher = new BruteForceMatcher(BruteForceMatcher.DistanceType.L2F32))
using (Matrix <int> indices = new Matrix <int>(obsKpts.Size, k))
using (Matrix <float> dists = new Matrix <float>(indices.Size))
{
matcher.Add(_modelDescriptors);
matcher.KnnMatch(obsDscpts, indices, dists, k, null);
MatchedImageFeature[] result = new MatchedImageFeature[observedFeatures.Length];
for (int i = 0; i < observedFeatures.Length; i++)
{
result[i].SimilarFeatures = new SimilarFeature[k];
for (int j = 0; j < k; j++)
{
result[i].SimilarFeatures[j].Distance = dists.Data[i, j];
result[i].SimilarFeatures[j].Feature = _modelFeatures[indices.Data[i, j]];
}
result[i].ObservedFeature = observedFeatures[i];
}
obsKpts.Dispose();
obsDscpts.Dispose();
return(result);
}
}
/// <summary>
/// Detect the if the model features exist in the observed features. If true, an homography matrix is returned, otherwise, null is returned.
/// </summary>
/// <param name="modelDescriptors">The descriptors from the model image</param>
/// <param name="modelKeyPoints">The keypoints drom the model image</param>
/// <param name="observedDescriptors">The descriptors from the descriptor image</param>
/// <param name="observedKeyPoints">The keypoints from the observed image</param>
/// <param name="uniquenessThreshold">The distance different ratio which a match is consider unique, a good number will be 0.8</param>
/// <returns>If the model features exist in the observed features, an homography matrix is returned, otherwise, null is returned.</returns>
public static HomographyMatrix Detect(
VectorOfKeyPoint modelKeyPoints, Matrix <float> modelDescriptors,
VectorOfKeyPoint observedKeyPoints, Matrix <float> observedDescriptors, double uniquenessThreshold)
{
using (BruteForceMatcher matcher = new BruteForceMatcher(BruteForceMatcher.DistanceType.L2F32))
using (Matrix <int> indices = new Matrix <int>(observedKeyPoints.Size, 2))
using (Matrix <float> dist = new Matrix <float>(indices.Size))
using (Matrix <byte> mask = new Matrix <byte>(dist.Rows, 1))
{
matcher.Add(modelDescriptors);
matcher.KnnMatch(observedDescriptors, indices, dist, 2, null);
mask.SetValue(255);
//Stopwatch w1 = Stopwatch.StartNew();
VoteForUniqueness(dist, uniquenessThreshold, mask);
//Trace.WriteLine(w1.ElapsedMilliseconds);
int nonZeroCount = CvInvoke.cvCountNonZero(mask);
if (nonZeroCount < 4)
{
return(null);
}
//Stopwatch w2 = Stopwatch.StartNew();
nonZeroCount = VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
if (nonZeroCount < 4)
{
return(null);
}
return(GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, indices, mask, 3));
}
}
/// <summary>
/// Match the Image feature from the observed image to the features from the model image, using brute force matcher
/// </summary>
/// <param name="observedFeatures">The Image feature from the observed image</param>
/// <param name="k">The number of neighbors to find</param>
/// <returns>The matched features</returns>
public MatchedImageFeature[] MatchFeature(ImageFeature <TDescriptor>[] observedFeatures, int k)
{
VectorOfKeyPoint obsKpts;
Matrix <TDescriptor> observedDescriptors;
ImageFeature <TDescriptor> .ConvertToRaw(observedFeatures, out obsKpts, out observedDescriptors);
try
{
DistanceType dt = typeof(TDescriptor) == typeof(Byte) ? DistanceType.Hamming : DistanceType.L2;
using (Matrix <int> indices = new Matrix <int>(observedDescriptors.Rows, k))
using (Matrix <float> dists = new Matrix <float>(observedDescriptors.Rows, k))
using (BruteForceMatcher <TDescriptor> matcher = new BruteForceMatcher <TDescriptor>(dt))
{
matcher.Add(_modelDescriptors);
matcher.KnnMatch(observedDescriptors, indices, dists, k, null);
return(ConvertToMatchedImageFeature(_modelKeyPoints, _modelDescriptors, obsKpts, observedDescriptors, indices, dists, null));
}
}
finally
{
obsKpts.Dispose();
observedDescriptors.Dispose();
}
}
public void Evaluate(int SpreadMax)
{
FStatus.SliceCount = SpreadMax;
FOutPositions1.SliceCount = SpreadMax;
FOutPositions2.SliceCount = SpreadMax;
for (int i = 0; i < SpreadMax; i++)
{
if (!FDo[i])
continue;
var input1 = FInput1[i];
var input2 = FInput2[i];
if (input1 == null || input2 == null)
continue;
if (!input1.Allocated || !input2.Allocated)
continue;
Matrix<byte> mask;
var matcher = new BruteForceMatcher<float>(DistanceType.L2);
matcher.Add(input2.Descriptors);
var indices = new Matrix<int>(input1.Descriptors.Rows, 2);
using (Matrix<float> distance = new Matrix<float>(input1.Descriptors.Rows, 2))
{
matcher.KnnMatch(input1.Descriptors, indices, distance, 2, null);
mask = new Matrix<byte>(distance.Rows, 1);
mask.SetValue(255);
Features2DToolbox.VoteForUniqueness(distance, FUniqueness[i], mask);
}
int nonZeroCount = CvInvoke.cvCountNonZero(mask);
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(input2.KeyPoints, input1.KeyPoints, indices, mask, 1.5, 20);
var positions1 = FOutPositions1[i];
var positions2 = FOutPositions2[i];
positions1.SliceCount = 0;
positions2.SliceCount = 0;
for (int j = 0; j < mask.Rows; j++)
{
if (mask[j, 0] != 0)
{
var index2 = indices[j, 0];
var point1 = input1.KeyPoints[j];
var point2 = input2.KeyPoints[index2];
positions1.Add(new Vector2D(point1.Point.X, point1.Point.Y));
positions2.Add(new Vector2D(point2.Point.X, point2.Point.Y));
}
}
}
}
public SURFEngine(Emgu.CV.Image<Gray, byte> roi)
{
surfDetector = new SURFDetector(500, false);
itemImage = roi;
itemKP = surfDetector.DetectKeyPointsRaw(itemImage, null);
itemDescriptors = surfDetector.ComputeDescriptorsRaw(itemImage, null, itemKP);
matcher = new BruteForceMatcher<float>(DistanceType.L2);
matcher.Add(itemDescriptors);
}
public static void DescriptorMatchKnn(Matrix <float> modelDescriptors, Matrix <float> observedDescriptors, int k, out Matrix <int> indices, out Matrix <float> dist)
{
indices = new Matrix <int>(observedDescriptors.Rows, k);
dist = new Matrix <float>(observedDescriptors.Rows, k);
using (BruteForceMatcher matcher = new BruteForceMatcher(BruteForceMatcher.DistanceType.L2F32))
{
matcher.Add(modelDescriptors);
matcher.KnnMatch(observedDescriptors, indices, dist, k, null);
}
/*
* using (Flann.Index index = new Flann.Index(modelDescriptors))
* {
* index.KnnSearch(observedDescriptors, indices, dist, k, 0);
* CvInvoke.cvSqrt(dist, dist);
* }*/
}
public bool Recognize(Image<Gray, Byte> observedImage, out PointF[] Region)
{
// extract features from the observed image
observedKeyPoints = new VectorOfKeyPoint();
Matrix<float> observedDescriptors = surfCPU.DetectAndCompute(observedImage, null, observedKeyPoints);
BruteForceMatcher<float> matcher = new BruteForceMatcher<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 >= requiredNonZeroCount)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, indices, mask, scaleIncrement, RotationBins);
if (nonZeroCount >= requiredNonZeroCount)
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, indices, mask, ransacReprojThreshold);
}
bool ObjectFound;
if (homography != null)
{ //draw a rectangle along the projected model
Rectangle rect = modelImage.ROI;
Region = 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)};
homography.ProjectPoints(Region);
ObjectFound = true;
}
else
{
Region = null;
ObjectFound = false;
}
return ObjectFound;
}
/// <summary>
/// Match the Image feature from the observed image to the features from the model image
/// </summary>
/// <param name="observedFeatures">The Image feature from the observed image</param>
/// <param name="k">The number of neighbors to find</param>
/// <returns>The matched features</returns>
public MatchedImageFeature[] MatchFeature(ImageFeature[] observedFeatures, int k)
{
VectorOfKeyPoint obsKpts;
Matrix<float> obsDscpts;
ConvertFromImageFeature(observedFeatures, out obsKpts, out obsDscpts);
using (BruteForceMatcher matcher = new BruteForceMatcher(BruteForceMatcher.DistanceType.L2F32))
using (Matrix<int> indices = new Matrix<int>(obsKpts.Size, k))
using (Matrix<float> dists = new Matrix<float>(indices.Size))
{
matcher.Add(_modelDescriptors);
matcher.KnnMatch(obsDscpts, indices, dists, k, null);
MatchedImageFeature[] result = new MatchedImageFeature[observedFeatures.Length];
for (int i = 0; i < observedFeatures.Length; i++)
{
result[i].SimilarFeatures = new SimilarFeature[k];
for (int j = 0; j < k; j++)
{
result[i].SimilarFeatures[j].Distance = dists.Data[i, j];
result[i].SimilarFeatures[j].Feature = _modelFeatures[indices.Data[i, j]];
}
result[i].ObservedFeature = observedFeatures[i];
}
obsKpts.Dispose();
obsDscpts.Dispose();
return result;
}
}
/// <summary>
/// Detect the if the model features exist in the observed features. If true, an homography matrix is returned, otherwise, null is returned.
/// </summary>
/// <param name="modelDescriptors">The descriptors from the model image</param>
/// <param name="modelKeyPoints">The keypoints drom the model image</param>
/// <param name="observedDescriptors">The descriptors from the descriptor image</param>
/// <param name="observedKeyPoints">The keypoints from the observed image</param>
/// <param name="uniquenessThreshold">The distance different ratio which a match is consider unique, a good number will be 0.8</param>
/// <returns>If the model features exist in the observed features, an homography matrix is returned, otherwise, null is returned.</returns>
public static HomographyMatrix Detect(
VectorOfKeyPoint modelKeyPoints, Matrix<float> modelDescriptors,
VectorOfKeyPoint observedKeyPoints, Matrix<float> observedDescriptors, double uniquenessThreshold)
{
using (BruteForceMatcher matcher = new BruteForceMatcher(BruteForceMatcher.DistanceType.L2F32))
using (Matrix<int> indices = new Matrix<int>(observedKeyPoints.Size, 2))
using (Matrix<float> dist = new Matrix<float>(indices.Size))
using (Matrix<byte> mask = new Matrix<byte>(dist.Rows, 1))
{
matcher.Add(modelDescriptors);
matcher.KnnMatch(observedDescriptors, indices, dist, 2, null);
mask.SetValue(255);
//Stopwatch w1 = Stopwatch.StartNew();
VoteForUniqueness(dist, uniquenessThreshold, mask);
//Trace.WriteLine(w1.ElapsedMilliseconds);
int nonZeroCount = CvInvoke.cvCountNonZero(mask);
if (nonZeroCount < 4)
return null;
//Stopwatch w2 = Stopwatch.StartNew();
nonZeroCount = VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
if (nonZeroCount < 4)
return null;
return GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, indices, mask, 3);
}
}
public static void DescriptorMatchKnn(Matrix<float> modelDescriptors, Matrix<float> observedDescriptors, int k, out Matrix<int> indices, out Matrix<float> dist)
{
indices = new Matrix<int>(observedDescriptors.Rows, k);
dist = new Matrix<float>(observedDescriptors.Rows, k);
using (BruteForceMatcher matcher = new BruteForceMatcher(BruteForceMatcher.DistanceType.L2F32))
{
matcher.Add(modelDescriptors);
matcher.KnnMatch(observedDescriptors, indices, dist, k, null);
}
/*
using (Flann.Index index = new Flann.Index(modelDescriptors))
{
index.KnnSearch(observedDescriptors, indices, dist, k, 0);
CvInvoke.cvSqrt(dist, dist);
}*/
}
public static void FindMatch(Image<Gray, Byte> modelImage, Image<Gray, byte> observedImage, out long matchTime, out VectorOfKeyPoint modelKeyPoints, out VectorOfKeyPoint observedKeyPoints, out Matrix<int> indices, out Matrix<byte> mask, out HomographyMatrix homography)
{
int k = 2;
double uniquenessThreshold = 0.8;
SURFDetector surfCPU = new SURFDetector(500, false);
Stopwatch watch;
homography = null;
//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);
BruteForceMatcher<float> matcher = new BruteForceMatcher<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 = watch.ElapsedMilliseconds;
}
private static bool IsModelInObserved( Image<Gray, byte> modelImage, Image<Gray, byte> observedImage, double similarityThreshold = 0.075 )
{
var surfCpu = new SURFDetector(500, false);
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
//extract features from the object image
var modelKeyPoints = surfCpu.DetectKeyPointsRaw( modelImage, null );
Matrix<float> modelDescriptors = surfCpu.ComputeDescriptorsRaw(modelImage, null, modelKeyPoints);
// extract features from the observed image
var observedKeyPoints = surfCpu.DetectKeyPointsRaw( observedImage, null );
Matrix<float> observedDescriptors = surfCpu.ComputeDescriptorsRaw(observedImage, null, observedKeyPoints);
BruteForceMatcher<float> matcher = new BruteForceMatcher<float>(DistanceType.L2);
matcher.Add( modelDescriptors );
var indices = new Matrix<int>( observedDescriptors.Rows, k );
using ( var 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 keypointMatchCount = CvInvoke.cvCountNonZero( mask );
if ( keypointMatchCount >= 4 )
{
keypointMatchCount = Features2DToolbox.VoteForSizeAndOrientation( modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20 );
if ( keypointMatchCount >= 4 )
{
Features2DToolbox.GetHomographyMatrixFromMatchedFeatures( modelKeyPoints, observedKeyPoints, indices, mask, 2 );
}
}
var similarity = (double)keypointMatchCount / observedKeyPoints.Size;
return similarity > similarityThreshold;
}
public static bool FindModelImageInObservedImage( Image<Gray, byte> modelImage, Image<Gray, byte> observedImage )
{
var surfCpu = new SURFDetector(500, false);
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
if ( GpuInvoke.HasCuda )
{
GpuSURFDetector surfGpu = new GpuSURFDetector(surfCpu.SURFParams, 0.01f);
using ( GpuImage<Gray, byte> gpuModelImage = new GpuImage<Gray, byte>( modelImage ) )
//extract features from the object image
using ( GpuMat<float> gpuModelKeyPoints = surfGpu.DetectKeyPointsRaw( gpuModelImage, null ) )
using ( GpuMat<float> gpuModelDescriptors = surfGpu.ComputeDescriptorsRaw( gpuModelImage, null, gpuModelKeyPoints ) )
using ( GpuBruteForceMatcher<float> matcher = new GpuBruteForceMatcher<float>( DistanceType.L2 ) )
{
modelKeyPoints = new VectorOfKeyPoint();
surfGpu.DownloadKeypoints( gpuModelKeyPoints, modelKeyPoints );
// extract features from the observed image
using ( GpuImage<Gray, byte> gpuObservedImage = new GpuImage<Gray, byte>( observedImage ) )
using ( GpuMat<float> gpuObservedKeyPoints = surfGpu.DetectKeyPointsRaw( gpuObservedImage, null ) )
using ( GpuMat<float> 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 ( var stream = new Emgu.CV.GPU.Stream() )
{
matcher.KnnMatchSingle( gpuObservedDescriptors, gpuModelDescriptors, gpuMatchIndices, gpuMatchDist, k, null, stream );
indices = new Matrix<int>( gpuMatchIndices.Size );
mask = new Matrix<byte>( gpuMask.Size );
//gpu implementation of voteForUniquess
using ( GpuMat<float> col0 = gpuMatchDist.Col( 0 ) )
using ( GpuMat<float> col1 = gpuMatchDist.Col( 1 ) )
{
GpuInvoke.Multiply( col1, new MCvScalar( uniquenessThreshold ), col1, stream );
GpuInvoke.Compare( col0, col1, gpuMask, CMP_TYPE.CV_CMP_LE, stream );
}
observedKeyPoints = new VectorOfKeyPoint();
surfGpu.DownloadKeypoints( gpuObservedKeyPoints, observedKeyPoints );
//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();
gpuMask.Download( mask );
gpuMatchIndices.Download( indices );
if ( GpuInvoke.CountNonZero( gpuMask ) >= 4 )
{
int nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
if ( nonZeroCount >= 4 )
{
Features2DToolbox.GetHomographyMatrixFromMatchedFeatures( modelKeyPoints, observedKeyPoints, indices, mask, 2 );
}
if ( (double)nonZeroCount / mask.Height > 0.02 )
{
return true;
}
}
}
}
}
else
{
//extract features from the object image
modelKeyPoints = surfCpu.DetectKeyPointsRaw( modelImage, null );
Matrix<float> modelDescriptors = surfCpu.ComputeDescriptorsRaw(modelImage, null, modelKeyPoints);
// extract features from the observed image
observedKeyPoints = surfCpu.DetectKeyPointsRaw( observedImage, null );
Matrix<float> observedDescriptors = surfCpu.ComputeDescriptorsRaw(observedImage, null, observedKeyPoints);
BruteForceMatcher<float> matcher = new BruteForceMatcher<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 )
{
Features2DToolbox.GetHomographyMatrixFromMatchedFeatures( modelKeyPoints, observedKeyPoints, indices, mask, 2 );
}
}
if ( (double)nonZeroCount/mask.Height > 0.02 )
{
return true;
}
}
//Draw the matched keypoints
//var result = Features2DToolbox.DrawMatches(modelImage, modelKeyPoints, observedImage, observedKeyPoints, indices, new Bgr(0, 0, 255), new Bgr(255, 0, 0), mask, Features2DToolbox.KeypointDrawType.DEFAULT);
//result.Save( @"C:\Users\D.Markachev\Desktop\bleh-keypoints.jpg" );
return false;
}
/// <summary>
/// Draw the model image and observed image, the matched features and homography projection.
/// </summary>
/// <param name="modelImageFileName">The model image</param>
/// <param name="observedImageBitmap">The observed image</param>
/// <param name="matchTime">The output total time for computing the homography matrix.</param>
/// <returns>The model image and observed image, the matched features and homography projection.</returns>
private System.Drawing.Point[] DrawBruteForceMatch(String modelImageFileName, Bitmap observedImageBitmap, out long matchTime)
{
try
{
Image<Gray, Byte> modelImage = new Image<Gray, byte>(modelImageFileName);
Image<Gray, Byte> observedImage = new Image<Gray, byte>(observedImageBitmap);
HomographyMatrix homography = null;
Stopwatch watch;
SURFDetector surfCPU = new SURFDetector(500, false);
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
//extract features from the object image
modelKeyPoints = surfCPU.DetectKeyPointsRaw(modelImage, null);
Matrix<float> modelDescriptors = surfCPU.ComputeDescriptorsRaw(modelImage, null, modelKeyPoints);
watch = Stopwatch.StartNew();
// extract features from the observed image
observedKeyPoints = surfCPU.DetectKeyPointsRaw(observedImage, null);
Matrix<float> observedDescriptors = surfCPU.ComputeDescriptorsRaw(observedImage, null, observedKeyPoints);
BruteForceMatcher<float> matcher = new BruteForceMatcher<float>(DistanceType.L2);
matcher.Add(modelDescriptors);
indices = new Matrix<int>(observedDescriptors.Rows, k);
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();
//Draw the matched keypoints
Image<Bgr, Byte> result = Features2DToolbox.DrawMatches(modelImage, modelKeyPoints, observedImage, observedKeyPoints,
indices, new Bgr(255, 255, 255), new Bgr(255, 255, 255), mask, Features2DToolbox.KeypointDrawType.DEFAULT);
System.Drawing.Point[] newpts = null;
#region draw the projected 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)};
homography.ProjectPoints(pts);
//result.DrawPolyline(Array.ConvertAll<PointF, System.Drawing.Point>(pts, System.Drawing.Point.Round), true, new Bgr(Color.Red), 2);
//result.Save(@"E:\1.jpg");
newpts = Array.ConvertAll<PointF, System.Drawing.Point>(pts, System.Drawing.Point.Round);
}
#endregion
matchTime = watch.ElapsedMilliseconds;
return newpts;
}
catch (Exception e)
{
Console.WriteLine(e.Message);
matchTime = 0;
return new System.Drawing.Point[] { new System.Drawing.Point(-1, -1), new System.Drawing.Point(-1, -1), new System.Drawing.Point(-1, -1), new System.Drawing.Point(-1, -1) };
}
}
public static Image<Bgr, Byte> FAST(Image<Gray, Byte> modelImage, Image<Gray, byte> observedImage)
{
bool isFound = false;
long matchTime;
Stopwatch watch;
HomographyMatrix homography = null;
FastDetector fastCPU = new FastDetector(10, true);
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
BriefDescriptorExtractor descriptor = new BriefDescriptorExtractor();
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
watch = Stopwatch.StartNew();
//extract features from the object image
modelKeyPoints = fastCPU.DetectKeyPointsRaw(modelImage, null);
Matrix<Byte> modelDescriptors = descriptor.ComputeDescriptorsRaw(modelImage, null, modelKeyPoints);
// extract features from the observed image
observedKeyPoints = fastCPU.DetectKeyPointsRaw(observedImage, null);
Matrix<Byte> observedDescriptors = descriptor.ComputeDescriptorsRaw(observedImage, null, observedKeyPoints);
BruteForceMatcher<Byte> matcher = new BruteForceMatcher<Byte>(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();
//Draw the matched keypoints
Image<Bgr, Byte> result = Features2DToolbox.DrawMatches(modelImage, modelKeyPoints, observedImage, observedKeyPoints,
indices, new Bgr(255, 255, 255), new Bgr(255, 255, 255), mask, Features2DToolbox.KeypointDrawType.DEFAULT);
#region draw the projected 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)};
homography.ProjectPoints(pts);
if (CvInvoke.cvCountNonZero(mask) >= 10)
isFound = true;
result.DrawPolyline(Array.ConvertAll<PointF, Point>(pts, Point.Round), true, new Bgr(Color.LightGreen), 5);
}
#endregion
matchTime = watch.ElapsedMilliseconds;
_richTextBox1.Clear();
_richTextBox1.AppendText("objek ditemukan: " + isFound + "\n");
_richTextBox1.AppendText("waktu pendeteksian FAST: " + matchTime + "ms\n");
_richTextBox1.AppendText("fitur model yang terdeteksi: " + modelKeyPoints.Size + "\n");
_richTextBox1.AppendText("match yang ditemukan: " + CvInvoke.cvCountNonZero(mask).ToString());
return result;
}
public static void FindMatch(Image<Gray, Byte> modelImage, Image<Gray, byte> observedImage, out long matchTime, out VectorOfKeyPoint modelKeyPoints, out VectorOfKeyPoint observedKeyPoints, out Matrix<int> indices, out Matrix<byte> mask, out HomographyMatrix homography)
{
int k = 2;
double uniquenessThreshold = 0.8;
SURFDetector surfCPU = new SURFDetector(500, false);
Stopwatch watch;
homography = null;
#if !IOS
if (GpuInvoke.HasCuda)
{
GpuSURFDetector surfGPU = new GpuSURFDetector(surfCPU.SURFParams, 0.01f);
using (GpuImage<Gray, Byte> gpuModelImage = new GpuImage<Gray, byte>(modelImage))
//extract features from the object image
using (GpuMat<float> gpuModelKeyPoints = surfGPU.DetectKeyPointsRaw(gpuModelImage, null))
using (GpuMat<float> gpuModelDescriptors = surfGPU.ComputeDescriptorsRaw(gpuModelImage, null, gpuModelKeyPoints))
using (GpuBruteForceMatcher<float> matcher = new GpuBruteForceMatcher<float>(DistanceType.L2))
{
modelKeyPoints = new VectorOfKeyPoint();
surfGPU.DownloadKeypoints(gpuModelKeyPoints, modelKeyPoints);
watch = Stopwatch.StartNew();
// extract features from the observed image
using (GpuImage<Gray, Byte> gpuObservedImage = new GpuImage<Gray, byte>(observedImage))
using (GpuMat<float> gpuObservedKeyPoints = surfGPU.DetectKeyPointsRaw(gpuObservedImage, null))
using (GpuMat<float> 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 (Stream stream = new Stream())
{
matcher.KnnMatchSingle(gpuObservedDescriptors, gpuModelDescriptors, gpuMatchIndices, gpuMatchDist, k, null, stream);
indices = new Matrix<int>(gpuMatchIndices.Size);
mask = new Matrix<byte>(gpuMask.Size);
//gpu implementation of voteForUniquess
using (GpuMat<float> col0 = gpuMatchDist.Col(0))
using (GpuMat<float> col1 = gpuMatchDist.Col(1))
{
GpuInvoke.Multiply(col1, new MCvScalar(uniquenessThreshold), col1, stream);
GpuInvoke.Compare(col0, col1, gpuMask, CMP_TYPE.CV_CMP_LE, stream);
}
observedKeyPoints = new VectorOfKeyPoint();
surfGPU.DownloadKeypoints(gpuObservedKeyPoints, observedKeyPoints);
//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();
gpuMask.Download(mask);
gpuMatchIndices.Download(indices);
if (GpuInvoke.CountNonZero(gpuMask) >= 4)
{
int nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
if (nonZeroCount >= 4)
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, indices, mask, 2);
}
watch.Stop();
}
}
}
else
#endif
{
//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);
BruteForceMatcher<float> matcher = new BruteForceMatcher<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 = watch.ElapsedMilliseconds;
}
private void GetAllKeyPointsAndMatch(Image<Gray, byte> prevFrame, Image<Gray, byte> currFrame)
{
int k = 2;
double uniquenessThreshold = .8;
VectorOfKeyPoint targetKeyPoints = new VectorOfKeyPoint();
VectorOfKeyPoint currentFrameKeyPoints = new VectorOfKeyPoint();
Matrix<float> targetDescriptors = surfDetector.DetectAndCompute(prevFrame, null, targetKeyPoints);
Matrix<float> currentFrameDescriptors = surfDetector.DetectAndCompute(currFrame, null, currentFrameKeyPoints);
if (targetDescriptors != null && currentFrameDescriptors != null)
{
BruteForceMatcher<float> keyPointMatcher = new BruteForceMatcher<float>(DistanceType.L2);
keyPointMatcher.Add(targetDescriptors);
Matrix<int> indices = new Matrix<int>(currentFrameDescriptors.Rows, k);
using (Matrix<float> dist = new Matrix<float>(currentFrameDescriptors.Rows, k))
{
keyPointMatcher.KnnMatch(currentFrameDescriptors, indices, dist, k, null);
Matrix<byte> matchMask = new Matrix<byte>(dist.Rows, 1);
matchMask.SetValue(255);
Features2DToolbox.VoteForUniqueness(dist, uniquenessThreshold, matchMask);
prevMasked = Features2DToolbox.DrawMatches(prevFrame, targetKeyPoints, currFrame, currentFrameKeyPoints, indices, new Bgr(255, 0, 0), new Bgr(0, 255, 0), matchMask, Features2DToolbox.KeypointDrawType.DEFAULT);
CalculateAvgDelta(targetDescriptors, currentFrameDescriptors, matchMask);
}
}
}
private void PerformSurfDetection(object sender, EventArgs e)
{
this.Text = "working...";
Application.DoEvents();
stopwatch.Restart();
HomographyMatrix homographyMatrix = null;
SURFDetector surfDetector = new SURFDetector(500, false);
Image<Gray, Byte> imgMasterGray;
Image<Gray, Byte> imgToFindGray;
VectorOfKeyPoint vkpMasterKeyPoints;
VectorOfKeyPoint vkpToFindKeyPoints;
Matrix<float> mtxMasterDescriptors;
Matrix<float> mtxToFindDescriptors;
Matrix<int> mtxMatchIndices;
Matrix<float> mtxDistance;
Matrix<Byte> mtxMask;
BruteForceMatcher<float> bruteForceMatcher;
int neighbors = 2;
double ratioUnique = 0.5;
int nonZeroElements;
double scaleIncrement = 1.5;
int rotationBin = 20;
double maxReprojectionError = 2.0;
//PointF[] ptfPointsF;
//Point ptPoints;
imgMasterGray = new Image<Gray, byte>(imgMasterColor.ToBitmap());
imgToFindGray = new Image<Gray, byte>(imgToFindColor.ToBitmap());
vkpMasterKeyPoints = surfDetector.DetectKeyPointsRaw(imgMasterGray, null);
mtxMasterDescriptors = surfDetector.ComputeDescriptorsRaw(imgMasterGray, null, vkpMasterKeyPoints);
vkpToFindKeyPoints = surfDetector.DetectKeyPointsRaw(imgToFindGray, null);
mtxToFindDescriptors = surfDetector.ComputeDescriptorsRaw(imgToFindGray, null, vkpToFindKeyPoints);
bruteForceMatcher = new BruteForceMatcher<float>(DistanceType.L2);
bruteForceMatcher.Add(mtxToFindDescriptors);
mtxMatchIndices = new Matrix<int>(mtxMasterDescriptors.Rows, neighbors);
mtxDistance = new Matrix<float>(mtxMasterDescriptors.Rows, neighbors);
bruteForceMatcher.KnnMatch(mtxMasterDescriptors, mtxMatchIndices, mtxDistance, neighbors, null);
mtxMask = new Matrix<byte>(mtxDistance.Rows, 1);
mtxMask.SetValue(255);
Features2DToolbox.VoteForUniqueness(mtxDistance, ratioUnique, mtxMask);
nonZeroElements = CvInvoke.cvCountNonZero(mtxMask);
if (nonZeroElements >= 4)
{
nonZeroElements = Features2DToolbox.VoteForSizeAndOrientation(vkpToFindKeyPoints, vkpMasterKeyPoints, mtxMatchIndices, mtxMask, scaleIncrement, rotationBin);
if (nonZeroElements >= 4)
{
homographyMatrix = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(vkpToFindKeyPoints, vkpMasterKeyPoints, mtxMatchIndices, mtxMask, maxReprojectionError);
}
}
imgCopyToFind = imgToFindColor.Copy();
imgCopyToFind.Draw(new Rectangle(1, 1, imgCopyToFind.Width - 3, imgCopyToFind.Height - 3), bgrFoundImageColor, 2);
imgResult = imgMasterColor;
imgResult = imgResult.ConcateHorizontal(imgCopyToFind);
if (homographyMatrix != null)
{
// draw a rectangle along the projected model
Rectangle rect = imgCopyToFind.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)
};
homographyMatrix.ProjectPoints(pts);
Point[] ptPoints = { Point.Round(pts[0]), Point.Round(pts[1]), Point.Round(pts[2]), Point.Round(pts[3]) };
imgResult.DrawPolyline(ptPoints, true, bgrFoundImageColor, 2);
int X = Convert.ToInt16((pts[0].X + pts[1].X) / 2) + this.Left;
int Y = Convert.ToInt16((pts[1].Y + pts[2].Y) / 2) + this.Top + 30;
LeftClick(X, Y);
}
stopwatch.Stop();
//this.Text = "working time = " + stopwatch.Elapsed.TotalSeconds.ToString() + "sec, done ! ";
}
public bool testSIFT(Image<Gray, Byte> modelImage, Image<Gray, byte> observedImage)
{
bool isFound = false;
HomographyMatrix homography = null;
SIFTDetector siftCPU = new SIFTDetector();
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
//extract features from the object image
modelKeyPoints = siftCPU.DetectKeyPointsRaw(modelImage, null);
Matrix<float> modelDescriptors = siftCPU.ComputeDescriptorsRaw(modelImage, null, modelKeyPoints);
// extract features from the observed image
observedKeyPoints = siftCPU.DetectKeyPointsRaw(observedImage, null);
Matrix<float> observedDescriptors = siftCPU.ComputeDescriptorsRaw(observedImage, null, observedKeyPoints);
BruteForceMatcher<float> matcher = new BruteForceMatcher<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);
}
//Draw the matched keypoints
Image<Bgr, Byte> result = Features2DToolbox.DrawMatches(modelImage, modelKeyPoints, observedImage, observedKeyPoints,
indices, new Bgr(255, 255, 255), new Bgr(255, 255, 255), mask, Features2DToolbox.KeypointDrawType.DEFAULT);
#region draw the projected 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)};
homography.ProjectPoints(pts);
if (CvInvoke.cvCountNonZero(mask) >= 10)
isFound = true;
result.DrawPolyline(Array.ConvertAll<PointF, Point>(pts, Point.Round), true, new Bgr(Color.LightGreen), 5);
}
#endregion
return isFound;
}
public static Boolean Detect(ObjectDetectee observedScene, ObjectDetectee obj)
{
HomographyMatrix homography = null;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
int testsPassed = 0;
// extract features from the observed image
observedKeyPoints = observedScene.objectKeyPoints;
Matrix<float> observedDescriptors = observedScene.objectDescriptors;
BruteForceMatcher<float> matcher = new BruteForceMatcher<float>(DistanceType.L2);
matcher.Add(obj.objectDescriptors);
if (observedDescriptors == null)
{
return false;
}
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 nonZero = 0;
int nonZeroCount = CvInvoke.cvCountNonZero(mask);
if (nonZeroCount >= 4)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(obj.objectKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
if (nonZeroCount >= 4)
{
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(obj.objectKeyPoints, observedKeyPoints, indices, mask, 2);
for (int i = 0; i < mask.Height; i++)
{
for (int j = 0; j < mask.Width; j++)
{
if (mask[i, j] != 0)
{
nonZero++;
}
}
}
if (nonZero > 4)
{
testsPassed++;
}
}
}
if (homography != null)
{
//draw a rectangle along the projected model
Rectangle rect = obj.objectImage.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)};
using (MemStorage m1 = new MemStorage())
using (MemStorage m2 = new MemStorage())
{
Contour<PointF> objPoly = new Contour<PointF>(m1);
Contour<PointF> scenePoly = new Contour<PointF>(m2);
pts.OrderBy(p => p.X).ThenBy(p => p.Y);
foreach (PointF i in pts)
{
objPoly.Push(i);
}
homography.ProjectPoints(pts);
pts.OrderBy(p => p.X).ThenBy(p => p.Y);
foreach (PointF i in pts)
{
scenePoly.Push(i);
}
double shapeMatch = CvInvoke.cvMatchShapes(objPoly, scenePoly, Emgu.CV.CvEnum.CONTOURS_MATCH_TYPE.CV_CONTOURS_MATCH_I3, 0);
double ratio = scenePoly.Area / objPoly.Area;
foreach (PointF i in pts)
{
if (i.X < 0 || i.Y < 0)
{
return false;
}
}
if (shapeMatch != 0 && shapeMatch <= 2)
{
testsPassed++;
}
if (ratio > 0.001 && ratio < 5.25)
{
testsPassed++;
}
if (!(Math.Abs(homography.Data[2, 0]) > .005 && Math.Abs(homography.Data[2, 1]) > .005))
{
testsPassed++;
}
if (testsPassed >= 2)
{
return true;
}
else
{
return false;
}
}
}
else
{
return false;
}
}
/// <summary>
/// Draw the model image and observed image, the matched features and homography projection.
/// </summary>
/// <param name="modelImage">The model image</param>
/// <param name="observedImage">The observed image</param>
/// <param name="matchTime">The output total time for computing the homography matrix.</param>
/// <returns>The model image and observed image, the matched features and homography projection.</returns>
public static Image<Bgr, Byte> Draw(Image<Gray, Byte> modelImage, Image<Gray, byte> observedImage, out long matchTime)
{
Stopwatch watch;
HomographyMatrix homography = null;
SURFDetector surfCPU = new SURFDetector (500, false);
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
if (GpuInvoke.HasCuda) {
GpuSURFDetector surfGPU = new GpuSURFDetector (surfCPU.SURFParams, 0.01f);
using (GpuImage<Gray, Byte> gpuModelImage = new GpuImage<Gray, byte> (modelImage))
//extract features from the object image
using (GpuMat<float> gpuModelKeyPoints = surfGPU.DetectKeyPointsRaw (gpuModelImage, null))
using (GpuMat<float> gpuModelDescriptors = surfGPU.ComputeDescriptorsRaw (gpuModelImage, null, gpuModelKeyPoints))
using (GpuBruteForceMatcher<float> matcher = new GpuBruteForceMatcher<float> (DistanceType.L2)) {
modelKeyPoints = new VectorOfKeyPoint ();
surfGPU.DownloadKeypoints (gpuModelKeyPoints, modelKeyPoints);
watch = Stopwatch.StartNew ();
// extract features from the observed image
using (GpuImage<Gray, Byte> gpuObservedImage = new GpuImage<Gray, byte> (observedImage))
using (GpuMat<float> gpuObservedKeyPoints = surfGPU.DetectKeyPointsRaw (gpuObservedImage, null))
using (GpuMat<float> 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 (Stream stream = new Stream ()) {
matcher.KnnMatchSingle (gpuObservedDescriptors, gpuModelDescriptors, gpuMatchIndices, gpuMatchDist, k, null, stream);
indices = new Matrix<int> (gpuMatchIndices.Size);
mask = new Matrix<byte> (gpuMask.Size);
//gpu implementation of voteForUniquess
using (GpuMat<float> col0 = gpuMatchDist.Col (0))
using (GpuMat<float> col1 = gpuMatchDist.Col (1)) {
GpuInvoke.Multiply (col1, new MCvScalar (uniquenessThreshold), col1, stream);
GpuInvoke.Compare (col0, col1, gpuMask, CMP_TYPE.CV_CMP_LE, stream);
}
observedKeyPoints = new VectorOfKeyPoint ();
surfGPU.DownloadKeypoints (gpuObservedKeyPoints, observedKeyPoints);
//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 ();
gpuMask.Download (mask);
gpuMatchIndices.Download (indices);
if (GpuInvoke.CountNonZero (gpuMask) >= 4) {
int nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation (modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
if (nonZeroCount >= 4)
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures (modelKeyPoints, observedKeyPoints, indices, mask, 2);
}
watch.Stop ();
}
}
} else {
//extract features from the object image
modelKeyPoints = surfCPU.DetectKeyPointsRaw (modelImage, null);
Matrix<float> modelDescriptors = surfCPU.ComputeDescriptorsRaw (modelImage, null, modelKeyPoints);
watch = Stopwatch.StartNew ();
// extract features from the observed image
observedKeyPoints = surfCPU.DetectKeyPointsRaw (observedImage, null);
Matrix<float> observedDescriptors = surfCPU.ComputeDescriptorsRaw (observedImage, null, observedKeyPoints);
BruteForceMatcher<float> matcher = new BruteForceMatcher<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 ();
}
//Draw the matched keypoints
Image<Bgr, Byte> result = Features2DToolbox.DrawMatches (modelImage, modelKeyPoints, observedImage, observedKeyPoints,
indices, new Bgr (255, 255, 255), new Bgr (255, 255, 255), mask, Features2DToolbox.KeypointDrawType.DEFAULT);
#region draw the projected 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)
};
homography.ProjectPoints (pts);
result.DrawPolyline (Array.ConvertAll<PointF, Point> (pts, Point.Round), true, new Bgr (Color.Red), 5);
}
#endregion
matchTime = watch.ElapsedMilliseconds;
return result;
}
public Image<Bgr, float> alignment(Image<Bgr, float> fImage, Image<Bgr, float> lImage, Boolean qrCode)
{
HomographyMatrix homography = null;
SURFDetector surfCPU = new SURFDetector(500, false);
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
Image<Gray, Byte> fImageG = fImage.Convert<Gray, Byte>();
Image<Gray, Byte> lImageG = lImage.Convert<Gray, Byte>();
//extract features from the object image
modelKeyPoints = new VectorOfKeyPoint();
Matrix<float> modelDescriptors = surfCPU.DetectAndCompute(fImageG, null, modelKeyPoints);
// extract features from the observed image
observedKeyPoints = new VectorOfKeyPoint();
Matrix<float> observedDescriptors = surfCPU.DetectAndCompute(lImageG, null, observedKeyPoints);
BruteForceMatcher<float> matcher = new BruteForceMatcher<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);
}
if (!qrCode && homography.Sum > 0)
{
throw new Exception();
}
//Console.WriteLine("h**o: " + indices.Size + " ," + homography.Size+ " "+homography.Sum);
Image<Bgr, Byte> result = Features2DToolbox.DrawMatches(fImageG, modelKeyPoints, lImageG, observedKeyPoints,
indices, new Bgr(255, 255, 255), new Bgr(255, 255, 255), mask, Features2DToolbox.KeypointDrawType.DEFAULT);
if (homography != null)
{
Console.Write("homoegraphy is not null");
//draw a rectangle along the projected model
Rectangle rect = fImageG.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)};
homography.ProjectPoints(pts);
result.DrawPolyline(Array.ConvertAll<PointF, Point>(pts, Point.Round), true, new Bgr(Color.Red), 5);
result.Save("resultqr.jpg");
//mage<Bgr, byte> mosaic = new Image<Bgr, byte>(fImageG.Width + fImageG.Width, fImageG.Height);
//Image<Bgr, byte> warp_image = mosaic.Clone();
Image<Bgr, float> result2 = new Image<Bgr, float>(fImage.Size);
//Image<Gray, Byte> result3 = new Image<Gray, Byte>(fImage.Size);
CvInvoke.cvWarpPerspective(fImage.Ptr, result2, homography.Ptr, (int)INTER.CV_INTER_CUBIC + (int)WARP.CV_WARP_FILL_OUTLIERS, new MCvScalar(0));
//CvInvoke.cvWarpPerspective(fImage.Ptr, result2, homography.Ptr, (int)INTER.CV_INTER_CUBIC + (int)WARP.CV_WARP_INVERSE_MAP, new MCvScalar(0));
return result2;
}
else
{
Console.WriteLine("homography is null");
}
return null;
}
