public void TestFreak()
{
FastDetector fast = new FastDetector(10, true);
Freak freak = new Freak(true, true, 22.0f, 4);
//ParamDef[] parameters = freak.GetParams();
//int nOctaves = freak.GetInt("nbOctave");
EmguAssert.IsTrue(TestFeature2DTracker(fast, freak), "Unable to find homography matrix");
}
public void UpdateModel <T>(T model)
{
this.model = model as FreakModel;
_freak = new Freak(
this.model.OrientationNormalized,
this.model.ScaleNormalized,
this.model.PatternScale,
this.model.NOctaves
);
}
public static UMat Run(Mat img)
{
var modelKeyPoints = new VectorOfKeyPoint();
var result = new UMat();
using (UMat uModelImage = img.ToUMat(AccessType.Read))
{
FastDetector fastCPU = new FastDetector(10, true);
Freak freakCPU = new Freak();
UMat modelDescriptors = new UMat();
fastCPU.DetectRaw(uModelImage, modelKeyPoints);
freakCPU.Compute(uModelImage, modelKeyPoints, modelDescriptors);
Features2DToolbox.DrawKeypoints(img, modelKeyPoints, result, new Bgr(Color.Red), Features2DToolbox.KeypointDrawType.NotDrawSinglePoints);
}
return(result);
}
private void btnFreak_Click(object sender, EventArgs e)
{
var temproot = RootImg.Clone();
var tempimg1 = WorkingImg.Clone();
Image <Bgr, byte> colorimg = tempimg1.Convert <Bgr, byte>();
Image <Bgr, byte> tempOriImg = temproot.Convert <Bgr, byte>();
var f2d = new Freak();
var keypoint = f2d.Detect(WorkingImg);
foreach (var point in keypoint)
{
System.Drawing.Rectangle rect = new Rectangle();
rect.X = (int)point.Point.X;
rect.Y = (int)point.Point.Y;
rect.Width = (int)point.Size;
rect.Height = (int)point.Size;
tempOriImg.Draw(rect, new Bgr(60, 200, 10), 2);
}
rtxLog.AppendText("btnFreak_Click" + Environment.NewLine);
RegistHisroty(tempOriImg);
}
public static Image <Bgr, Byte> Draw(Image <Gray, Byte> modelImage, Image <Gray, byte> observedImage)
{
HomographyMatrix homography = null;
FastDetector fastCPU = new FastDetector(10, true);
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix <int> indices;
Freak descriptor = new Freak(true, true, 22.0f, 4);
Matrix <byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
//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);
}
}
//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
return(result);
}
public static Image<Bgr, Byte> Draw(Image<Gray, Byte> modelImage, Image<Gray, byte> observedImage)
{
HomographyMatrix homography = null;
FastDetector fastCPU = new FastDetector(10, true);
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Freak descriptor = new Freak(true, true, 22.0f, 4);
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
//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);
}
//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
return result;
}
