public static Matrix<byte> ExtractBriefFeatureDescriptors(Emgu.CV.Image<Gray, byte> im, MKeyPoint kp)
{
var f = new VectorOfKeyPoint();
f.Push(new MKeyPoint[] { kp });
//i'm are going to invoke this with a single point because otherwise I cannot tell which points failed to get descriptors
return new BriefDescriptorExtractor().ComputeDescriptorsRaw(im, (Emgu.CV.Image<Gray, byte>)null, f);
}
/// <summary>
/// Push an array of value into the standard vector
/// </summary>
/// <param name="value">The value to be pushed to the vector</param>
public void Push(MKeyPoint[] value)
{
if (value.Length > 0)
{
GCHandle handle = GCHandle.Alloc(value, GCHandleType.Pinned);
CvInvoke.VectorOfKeyPointPushMulti(_ptr, handle.AddrOfPinnedObject(), value.Length);
handle.Free();
}
}
public PointF[] Calculate(IImage prev, IImage curr, MKeyPoint[] prevFeatures)
{
PointF[] features;
byte[] status;
float[] trackError;
var points = prevFeatures.Select(e => e.Point).ToArray();
CvInvoke.CalcOpticalFlowPyrLK(prev, curr, points, winSize, level, criteria, out features,
out status, out trackError);
return features;
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The image features founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image<Gray, Byte> image, Image<Gray, byte> mask, MKeyPoint[] keyPoints)
{
using (VectorOfFloat descs = new VectorOfFloat())
using (VectorOfKeyPoint kpts = new VectorOfKeyPoint())
{
kpts.Push(keyPoints);
CvSURFDetectorComputeDescriptors(ref this, image, mask, kpts, descs);
int n = keyPoints.Length;
long address = descs.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = extended == 0 ? 64 : 128;
for (int i = 0; i < n; i++, address += sizeOfdescriptor * sizeof(float))
{
features[i].KeyPoint = keyPoints[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(address), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return features;
}
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The image features founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image<Gray, Byte> image, Image<Gray, byte> mask, MKeyPoint[] keyPoints)
{
if (keyPoints.Length == 0) return new ImageFeature[0];
using (VectorOfFloat descVec = new VectorOfFloat())
using (VectorOfKeyPoint kpts = new VectorOfKeyPoint())
{
kpts.Push(keyPoints);
CvSIFTDetectorComputeDescriptors(_ptr, image, mask, kpts, descVec);
int n = keyPoints.Length;
float[] descs = descVec.ToArray();
//long address = descVec.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = DescriptorSize;
for (int i = 0; i < n; i++)
{
features[i].KeyPoint = keyPoints[i];
float[] d = new float[sizeOfdescriptor];
Array.Copy(descs, i * sizeOfdescriptor, d, 0, sizeOfdescriptor);
features[i].Descriptor = d;
}
return features;
}
}
/// <summary>
/// Compute the ImageFeature on the image from the given keypoint locations.
/// </summary>
/// <param name="image">The image to compute descriptors from</param>
/// <param name="keyPoints">The keypoints where the descriptor computation is perfromed</param>
/// <returns>The ImageFeature from the given keypoints</returns>
public ImageFeature[] ComputeDescriptors(Image<Gray, byte> image, MKeyPoint[] keyPoints)
{
return ComputeDescriptors(image, null, keyPoints);
}
/// <summary>
/// Convert the standard vector to an array of float
/// </summary>
/// <returns>An array of float</returns>
public MKeyPoint[] ToArray()
{
MKeyPoint[] res = new MKeyPoint[Size];
GCHandle handle = GCHandle.Alloc(res, GCHandleType.Pinned);
VectorOfKeyPointCopyData(_ptr, handle.AddrOfPinnedObject());
handle.Free();
return res;
}
/*
/// <summary>
/// Compute the descriptor given the bgr image and the point location, using oppponent color (CGIV 2008 "Color Descriptors for Object Category Recognition").
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The descriptors founded on the keypoint location</returns>
public Matrix<float> ComputeDescriptorsRaw(Image<Bgr, Byte> image, VectorOfKeyPoint keyPoints)
{
int count = keyPoints.Size;
if (count == 0) return null;
Matrix<float> descriptors = new Matrix<float>(count, DescriptorSize * 3, 1);
CvSIFTDetectorComputeDescriptorsBGR(_ptr, image, keyPoints, descriptors);
return descriptors;
}*/
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The descriptors founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image<Gray, Byte> image, Image<Gray, byte> mask, MKeyPoint[] keyPoints)
{
if (keyPoints.Length == 0) return new ImageFeature[0];
using (VectorOfKeyPoint kpts = new VectorOfKeyPoint())
{
kpts.Push(keyPoints);
using (Matrix<float> descriptor = ComputeDescriptorsRaw(image, mask, kpts))
{
return Features2DTracker.ConvertToImageFeature(kpts, descriptor);
}
}
}
internal static extern void VectorOfKeyPointGetItem(IntPtr keypoints, int index, ref MKeyPoint keypoint);
private static void ExternalSURFKeypoints(ref Image<Gray, Byte> frame, out MKeyPoint[] all_keypoints)
{
Console.WriteLine("External SURF Keypoint Detector");
all_keypoints = SURF.DetectKeyPoints(frame, null);
}
private static void ExternalBRISKKeypoints(ref Image<Gray, Byte> frame, out MKeyPoint[] all_keypoints)
{
//Console.WriteLine("External BRISK Keypoint Detector");
all_keypoints = featureDetector.DetectKeyPoints(frame, null);
}
/// <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, out double featurenumber, out MKeyPoint[] keyPoints, out List<int> index)
{
//index = new int[100];
index = new List<int>();
HomographyMatrix homography;
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Matrix<byte> mask;
FindMatch(modelImage, observedImage, out matchTime, out modelKeyPoints, out observedKeyPoints, out indices, out mask, out homography, out featurenumber);
//foreach (byte data in mask.Data)
//{
// if( data = 0)
//}
int n = 0;
for (int i = 0; i < mask.Data.GetLength(0); i++)
{
if (mask.Data[i, 0] == 1)
{
index.Add(i);
n++;
Console.WriteLine(i);
}
}
//Draw the matched keypoints
Image<Bgr, Byte> result = Features2DToolbox.DrawMatches(modelImage, modelKeyPoints, observedImage, observedKeyPoints,
indices, new Bgr(255, 0, 0), new Bgr(255, 0, 255), mask, Features2DToolbox.KeypointDrawType.NOT_DRAW_SINGLE_POINTS);
#region draw the projected region on the image
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)};
if (homography != null)
{ //draw a rectangle along the projected model
homography.ProjectPoints(pts);
result.DrawPolyline(Array.ConvertAll<PointF, Point>(pts, Point.Round), true, new Bgr(Color.Red), 5);
}
#endregion
keyPoints = observedKeyPoints.ToArray();
featurenumber = n;
return result;
}
/// <summary>
/// Create an standard vector of KeyPoint with the initial values
/// </summary>
/// <param name="values">The initial values</param>
public VectorOfKeyPoint(MKeyPoint[] values)
:this()
{
Push(values);
}
internal static extern void VectorOfKeyPointGetItem(IntPtr vec, int index, ref MKeyPoint element);
/// <summary>
/// Convert the standard vector to an array of KeyPoint
/// </summary>
/// <returns>An array of KeyPoint</returns>
public MKeyPoint[] ToArray()
{
MKeyPoint[] res = new MKeyPoint[Size];
if (res.Length > 0)
{
GCHandle handle = GCHandle.Alloc(res, GCHandleType.Pinned);
CvInvoke.VectorOfKeyPointCopyData(_ptr, handle.AddrOfPinnedObject());
handle.Free();
}
return res;
}
/// <summary>
/// Get the item in the specific index
/// </summary>
/// <param name="index">The index</param>
/// <returns>The item in the specific index</returns>
public MKeyPoint this[int index]
{
get
{
MKeyPoint result = new MKeyPoint();
CvInvoke.VectorOfKeyPointGetItem(_ptr, index, ref result);
return result;
}
}
private static void ExternalBRISKDescriptors(ref Image<Gray, Byte> frame, MKeyPoint[] keypoints, out Matrix<byte> features)
{
//Console.WriteLine("External BRISK Keypoint Descriptor Extractor");
Emgu.CV.Util.VectorOfKeyPoint keypoint_vector = new Emgu.CV.Util.VectorOfKeyPoint();
keypoint_vector.Push(keypoints);
features = featureDetector.ComputeDescriptorsRaw(frame, null, keypoint_vector);
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The image features founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image<Gray, Byte> image, Image<Gray, byte> mask, MKeyPoint[] keyPoints)
{
int sizeOfdescriptor = _surfParams.Extended ? 128 : 64;
using (VectorOfKeyPoint pts = new VectorOfKeyPoint())
{
pts.Push(keyPoints);
using (Matrix<float> descriptors = ComputeDescriptorsRaw(image, mask, pts))
return Features2DTracker.ConvertToImageFeature(pts, descriptors);
}
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The image features founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image<Gray, Byte> image, Image<Gray, byte> mask, MKeyPoint[] keyPoints)
{
if (keyPoints.Length == 0) return new ImageFeature[0];
using (VectorOfFloat descs = new VectorOfFloat())
{
GCHandle handle = GCHandle.Alloc(keyPoints, GCHandleType.Pinned);
CvSIFTDetectorComputeDescriptors(_ptr, image, mask, handle.AddrOfPinnedObject(), keyPoints.Length, descs);
handle.Free();
int n = keyPoints.Length;
long address = descs.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = DescriptorSize;
for (int i = 0; i < n; i++, address += sizeOfdescriptor * sizeof(float))
{
features[i].KeyPoint = keyPoints[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(address), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return features;
}
}
