/// <summary>
/// Draw keypoints.
/// </summary>
/// <param name="image">Source image.</param>
/// <param name="keypoints">Keypoints from the source image.</param>
/// <param name="outImage">Output image. Its content depends on the flags value defining what is drawn in the output image. See possible flags bit values below.</param>
/// <param name="color">Color of keypoints.</param>
/// <param name="flags">Flags setting drawing features. Possible flags bit values are defined by DrawMatchesFlags.</param>
public static void DrawKeypoints(
InputArray image,
IEnumerable <KeyPoint> keypoints,
InputOutputArray outImage,
Scalar?color = null,
DrawMatchesFlags flags = DrawMatchesFlags.Default)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (outImage == null)
{
throw new ArgumentNullException(nameof(outImage));
}
if (keypoints == null)
{
throw new ArgumentNullException(nameof(keypoints));
}
image.ThrowIfDisposed();
outImage.ThrowIfDisposed();
var keypointsArray = keypoints as KeyPoint[] ?? keypoints.ToArray();
var color0 = color.GetValueOrDefault(Scalar.All(-1));
NativeMethods.HandleException(
NativeMethods.features2d_drawKeypoints(image.CvPtr, keypointsArray, keypointsArray.Length, outImage.CvPtr, color0, (int)flags));
GC.KeepAlive(image);
GC.KeepAlive(outImage);
}
/// <summary>
/// Finds the geometric transform (warp) between two images in terms of the ECC criterion @cite EP08 .
/// </summary>
/// <param name="templateImage">single-channel template image; CV_8U or CV_32F array.</param>
/// <param name="inputImage">single-channel input image which should be warped with the final warpMatrix in
/// order to provide an image similar to templateImage, same type as templateImage.</param>
/// <param name="warpMatrix">floating-point \f$2\times 3\f$ or \f$3\times 3\f$ mapping matrix (warp).</param>
/// <param name="motionType">parameter, specifying the type of motion</param>
/// <param name="criteria">parameter, specifying the termination criteria of the ECC algorithm;
/// criteria.epsilon defines the threshold of the increment in the correlation coefficient between two
/// iterations(a negative criteria.epsilon makes criteria.maxcount the only termination criterion).
/// Default values are shown in the declaration above.</param>
/// <param name="inputMask">An optional mask to indicate valid values of inputImage.</param>
/// <returns></returns>
public static double FindTransformECC(
InputArray templateImage,
InputArray inputImage,
InputOutputArray warpMatrix,
MotionTypes motionType = MotionTypes.Affine,
TermCriteria?criteria = null,
InputArray?inputMask = null)
{
if (templateImage == null)
{
throw new ArgumentNullException(nameof(templateImage));
}
if (inputImage == null)
{
throw new ArgumentNullException(nameof(inputImage));
}
if (warpMatrix == null)
{
throw new ArgumentNullException(nameof(warpMatrix));
}
templateImage.ThrowIfDisposed();
inputImage.ThrowIfDisposed();
warpMatrix.ThrowIfDisposed();
inputMask?.ThrowIfDisposed();
var criteriaValue = criteria.GetValueOrDefault(new TermCriteria(CriteriaType.Count | CriteriaType.Eps, 50, 0.001));
NativeMethods.HandleException(
NativeMethods.video_findTransformECC2(
templateImage.CvPtr, inputImage.CvPtr, warpMatrix.CvPtr, (int)motionType,
criteriaValue, inputMask?.CvPtr ?? IntPtr.Zero, out var ret));
GC.KeepAlive(templateImage);
GC.KeepAlive(inputImage);
GC.KeepAlive(warpMatrix);
GC.KeepAlive(inputMask);
return(ret);
}
/// <summary>
/// Finds the geometric transform (warp) between two images in terms of the ECC criterion @cite EP08 .
/// </summary>
/// <param name="templateImage">single-channel template image; CV_8U or CV_32F array.</param>
/// <param name="inputImage">single-channel input image which should be warped with the final warpMatrix in
/// order to provide an image similar to templateImage, same type as templateImage.</param>
/// <param name="warpMatrix">floating-point \f$2\times 3\f$ or \f$3\times 3\f$ mapping matrix (warp).</param>
/// <param name="motionType">parameter, specifying the type of motion</param>
/// <param name="criteria">parameter, specifying the termination criteria of the ECC algorithm;
/// criteria.epsilon defines the threshold of the increment in the correlation coefficient between two
/// iterations(a negative criteria.epsilon makes criteria.maxcount the only termination criterion).
/// Default values are shown in the declaration above.</param>
/// <param name="inputMask">An optional mask to indicate valid values of inputImage.</param>
/// <param name="gaussFiltSize">An optional value indicating size of gaussian blur filter; (DEFAULT: 5)</param>
/// <returns></returns>
public static double FindTransformECC(
InputArray templateImage,
InputArray inputImage,
InputOutputArray warpMatrix,
MotionTypes motionType,
TermCriteria criteria,
InputArray?inputMask = null,
int gaussFiltSize = 5)
{
if (templateImage == null)
{
throw new ArgumentNullException(nameof(templateImage));
}
if (inputImage == null)
{
throw new ArgumentNullException(nameof(inputImage));
}
if (warpMatrix == null)
{
throw new ArgumentNullException(nameof(warpMatrix));
}
templateImage.ThrowIfDisposed();
inputImage.ThrowIfDisposed();
warpMatrix.ThrowIfDisposed();
inputMask?.ThrowIfDisposed();
NativeMethods.HandleException(
NativeMethods.video_findTransformECC1(
templateImage.CvPtr, inputImage.CvPtr, warpMatrix.CvPtr, (int)motionType,
criteria, inputMask?.CvPtr ?? IntPtr.Zero, gaussFiltSize,
out var ret));
GC.KeepAlive(templateImage);
GC.KeepAlive(inputImage);
GC.KeepAlive(warpMatrix);
GC.KeepAlive(inputMask);
return(ret);
}
/// <summary>
/// clusters the input data using k-Means algorithm
/// </summary>
/// <param name="data"></param>
/// <param name="k"></param>
/// <param name="bestLabels"></param>
/// <param name="criteria"></param>
/// <param name="attempts"></param>
/// <param name="flags"></param>
/// <param name="centers"></param>
/// <returns></returns>
public static double Kmeans(InputArray data, int k, InputOutputArray bestLabels,
TermCriteria criteria, int attempts, KMeansFlags flags, OutputArray centers = null)
{
if (data == null)
throw new ArgumentNullException("data");
if (bestLabels == null)
throw new ArgumentNullException("bestLabels");
data.ThrowIfDisposed();
bestLabels.ThrowIfDisposed();
double ret = NativeMethods.core_kmeans(data.CvPtr, k, bestLabels.CvPtr, criteria, attempts, (int)flags, ToPtr(centers));
bestLabels.Fix();
if(centers != null)
centers.Fix();
GC.KeepAlive(data);
return ret;
}
/// <summary>
/// draws one or more polygonal curves
/// </summary>
/// <param name="img"></param>
/// <param name="pts"></param>
/// <param name="isClosed"></param>
/// <param name="color"></param>
/// <param name="thickness"></param>
/// <param name="lineType"></param>
/// <param name="shift"></param>
public static void Polylines(
InputOutputArray img, InputArray pts, bool isClosed, Scalar color,
int thickness = 1, LineTypes lineType = LineTypes.Link8, int shift = 0)
{
if (img == null)
throw new ArgumentNullException(nameof(img));
if (pts == null)
throw new ArgumentNullException(nameof(pts));
img.ThrowIfDisposed();
pts.ThrowIfDisposed();
NativeMethods.imgproc_polylines_InputOutputArray(
img.CvPtr, pts.CvPtr, isClosed ? 1 : 0, color, thickness, (int)lineType, shift);
img.Fix();
GC.KeepAlive(pts);
}
/// <summary>
/// renders text string in the image
/// </summary>
/// <param name="img"></param>
/// <param name="text"></param>
/// <param name="org"></param>
/// <param name="fontFace"></param>
/// <param name="fontScale"></param>
/// <param name="color"></param>
/// <param name="thickness"></param>
/// <param name="lineType"></param>
/// <param name="bottomLeftOrigin"></param>
public static void PutText(InputOutputArray img, string text, Point org,
HersheyFonts fontFace, double fontScale, Scalar color,
int thickness = 1, LineTypes lineType = LineTypes.Link8, bool bottomLeftOrigin = false)
{
if (img == null)
throw new ArgumentNullException(nameof(img));
if (String.IsNullOrEmpty(text))
throw new ArgumentNullException(text);
img.ThrowIfDisposed();
NativeMethods.core_putText(img.CvPtr, text, org, (int)fontFace, fontScale, color,
thickness, (int)lineType, bottomLeftOrigin ? 1 : 0);
img.Fix();
}
/// <summary>
/// 1つ，または複数のポリゴンで区切られた領域を塗りつぶします．
/// </summary>
/// <param name="img">画像</param>
/// <param name="pts">ポリゴンの配列．各要素は，点の配列で表現されます．</param>
/// <param name="color">ポリゴンの色．</param>
/// <param name="lineType">ポリゴンの枠線の種類，</param>
/// <param name="shift">ポリゴンの頂点座標において，小数点以下の桁を表すビット数．</param>
/// <param name="offset"></param>
#else
/// <summary>
/// Fills the area bounded by one or more polygons
/// </summary>
/// <param name="img">Image</param>
/// <param name="pts">Array of polygons, each represented as an array of points</param>
/// <param name="color">Polygon color</param>
/// <param name="lineType">Type of the polygon boundaries</param>
/// <param name="shift">The number of fractional bits in the vertex coordinates</param>
/// <param name="offset"></param>
#endif
public static void FillPoly(
InputOutputArray img, InputArray pts, Scalar color,
LineTypes lineType = LineTypes.Link8, int shift = 0, Point? offset = null)
{
if (img == null)
throw new ArgumentNullException(nameof(img));
if (pts == null)
throw new ArgumentNullException(nameof(pts));
img.ThrowIfDisposed();
pts.ThrowIfDisposed();
Point offset0 = offset.GetValueOrDefault(new Point());
NativeMethods.imgproc_fillPoly_InputOutputArray(
img.CvPtr, pts.CvPtr, color, (int)lineType, shift, offset0);
GC.KeepAlive(pts);
img.Fix();
}
/// <summary>
/// 塗りつぶされた凸ポリゴンを描きます．
/// </summary>
/// <param name="img">画像</param>
/// <param name="pts">ポリゴンの頂点．</param>
/// <param name="color">ポリゴンの色．</param>
/// <param name="lineType">ポリゴンの枠線の種類，</param>
/// <param name="shift">ポリゴンの頂点座標において，小数点以下の桁を表すビット数．</param>
#else
/// <summary>
/// Fills a convex polygon.
/// </summary>
/// <param name="img">Image</param>
/// <param name="pts">The polygon vertices</param>
/// <param name="color">Polygon color</param>
/// <param name="lineType">Type of the polygon boundaries</param>
/// <param name="shift">The number of fractional bits in the vertex coordinates</param>
#endif
public static void FillConvexPoly(InputOutputArray img, InputArray pts, Scalar color,
LineTypes lineType = LineTypes.Link8, int shift = 0)
{
if (img == null)
throw new ArgumentNullException(nameof(img));
if (pts == null)
throw new ArgumentNullException(nameof(pts));
img.ThrowIfDisposed();
pts.ThrowIfDisposed();
NativeMethods.imgproc_fillConvexPoly_InputOutputArray(
img.CvPtr, pts.CvPtr, color, (int)lineType, shift);
GC.KeepAlive(img);
GC.KeepAlive(pts);
}
/// <summary>
/// 枠だけの楕円，もしくは塗りつぶされた楕円を描画する
/// </summary>
/// <param name="img">楕円が描かれる画像．</param>
/// <param name="box">描画したい楕円を囲む矩形領域．</param>
/// <param name="color">楕円の色．</param>
/// <param name="thickness">楕円境界線の幅．[既定値は1]</param>
/// <param name="lineType">楕円境界線の種類．[既定値はLineType.Link8]</param>
#else
/// <summary>
/// Draws simple or thick elliptic arc or fills ellipse sector
/// </summary>
/// <param name="img">Image. </param>
/// <param name="box">The enclosing box of the ellipse drawn </param>
/// <param name="color">Ellipse color. </param>
/// <param name="thickness">Thickness of the ellipse boundary. [By default this is 1]</param>
/// <param name="lineType">Type of the ellipse boundary. [By default this is LineType.Link8]</param>
#endif
public static void Ellipse(InputOutputArray img, RotatedRect box, Scalar color,
int thickness = 1, LineTypes lineType = LineTypes.Link8)
{
if (img == null)
throw new ArgumentNullException(nameof(img));
img.ThrowIfDisposed();
NativeMethods.imgproc_ellipse2(img.CvPtr, box, color, thickness, (int)lineType);
img.Fix();
}
/// <summary>
/// 円を描画する
/// </summary>
/// <param name="img">画像</param>
/// <param name="center">円の中心</param>
/// <param name="radius">円の半径</param>
/// <param name="color">円の色</param>
/// <param name="thickness">線の幅．負の値を指定した場合は塗りつぶされる．[既定値は1]</param>
/// <param name="lineType">線の種類. [既定値はLineType.Link8]</param>
/// <param name="shift">中心座標と半径の小数点以下の桁を表すビット数. [既定値は0]</param>
#else
/// <summary>
/// Draws a circle
/// </summary>
/// <param name="img">Image where the circle is drawn. </param>
/// <param name="center">Center of the circle. </param>
/// <param name="radius">Radius of the circle. </param>
/// <param name="color">Circle color. </param>
/// <param name="thickness">Thickness of the circle outline if positive, otherwise indicates that a filled circle has to be drawn. [By default this is 1]</param>
/// <param name="lineType">Type of the circle boundary. [By default this is LineType.Link8]</param>
/// <param name="shift">Number of fractional bits in the center coordinates and radius value. [By default this is 0]</param>
#endif
public static void Circle(InputOutputArray img, Point center, int radius, Scalar color,
int thickness = 1, LineTypes lineType = LineTypes.Link8, int shift = 0)
{
if (img == null)
throw new ArgumentNullException(nameof(img));
img.ThrowIfDisposed();
NativeMethods.imgproc_circle(img.CvPtr, center, radius, color, thickness, (int)lineType, shift);
img.Fix();
}
/// <summary>
/// finds intrinsic and extrinsic parameters of a stereo camera
/// </summary>
/// <param name="objectPoints">Vector of vectors of the calibration pattern points.</param>
/// <param name="imagePoints1">Vector of vectors of the projections of the calibration pattern points, observed by the first camera.</param>
/// <param name="imagePoints2">Vector of vectors of the projections of the calibration pattern points, observed by the second camera.</param>
/// <param name="cameraMatrix1">Input/output first camera matrix</param>
/// <param name="distCoeffs1">Input/output vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements.
/// The output vector length depends on the flags.</param>
/// <param name="cameraMatrix2"> Input/output second camera matrix. The parameter is similar to cameraMatrix1 .</param>
/// <param name="distCoeffs2">Input/output lens distortion coefficients for the second camera. The parameter is similar to distCoeffs1 .</param>
/// <param name="imageSize">Size of the image used only to initialize intrinsic camera matrix.</param>
/// <param name="R">Output rotation matrix between the 1st and the 2nd camera coordinate systems.</param>
/// <param name="T">Output translation vector between the coordinate systems of the cameras.</param>
/// <param name="E">Output essential matrix.</param>
/// <param name="F">Output fundamental matrix.</param>
/// <param name="criteria">Termination criteria for the iterative optimization algorithm.</param>
/// <param name="flags">Different flags that may be zero or a combination of the CalibrationFlag values</param>
/// <returns></returns>
public static double StereoCalibrate(IEnumerable<InputArray> objectPoints,
IEnumerable<InputArray> imagePoints1,
IEnumerable<InputArray> imagePoints2,
InputOutputArray cameraMatrix1, InputOutputArray distCoeffs1,
InputOutputArray cameraMatrix2, InputOutputArray distCoeffs2,
Size imageSize, OutputArray R,
OutputArray T, OutputArray E, OutputArray F,
CalibrationFlags flags = CalibrationFlags.FixIntrinsic,
TermCriteria? criteria = null)
{
if (objectPoints == null)
throw new ArgumentNullException("objectPoints");
if (imagePoints1 == null)
throw new ArgumentNullException("imagePoints1");
if (imagePoints2 == null)
throw new ArgumentNullException("imagePoints2");
if (cameraMatrix1 == null)
throw new ArgumentNullException("cameraMatrix1");
if (distCoeffs1 == null)
throw new ArgumentNullException("distCoeffs1");
if (cameraMatrix2 == null)
throw new ArgumentNullException("cameraMatrix2");
if (distCoeffs2 == null)
throw new ArgumentNullException("distCoeffs2");
cameraMatrix1.ThrowIfDisposed();
distCoeffs1.ThrowIfDisposed();
cameraMatrix2.ThrowIfDisposed();
distCoeffs2.ThrowIfDisposed();
cameraMatrix1.ThrowIfNotReady();
cameraMatrix2.ThrowIfNotReady();
distCoeffs1.ThrowIfNotReady();
distCoeffs2.ThrowIfNotReady();
IntPtr[] opPtrs = EnumerableEx.SelectPtrs(objectPoints);
IntPtr[] ip1Ptrs = EnumerableEx.SelectPtrs(imagePoints1);
IntPtr[] ip2Ptrs = EnumerableEx.SelectPtrs(imagePoints2);
TermCriteria criteria0 = criteria.GetValueOrDefault(
new TermCriteria(CriteriaType.Count | CriteriaType.Eps, 30, 1e-6));
double result =
NativeMethods.calib3d_stereoCalibrate_InputArray(
opPtrs, opPtrs.Length,
ip1Ptrs, ip1Ptrs.Length, ip2Ptrs, ip2Ptrs.Length,
cameraMatrix1.CvPtr, distCoeffs1.CvPtr,
cameraMatrix2.CvPtr, distCoeffs2.CvPtr,
imageSize, ToPtr(R), ToPtr(T), ToPtr(E), ToPtr(F),
(int)flags, criteria0);
cameraMatrix1.Fix();
distCoeffs1.Fix();
cameraMatrix2.Fix();
distCoeffs2.Fix();
if (R != null)
R.Fix();
if (T != null)
T.Fix();
if (E != null)
E.Fix();
if (F != null)
F.Fix();
return result;
}