/// <summary>
///
/// </summary>
/// <param name="subdiv"></param>
/// <param name="img"></param>
private void PaintVoronoi(CvSubdiv2D subdiv, IplImage img)
{
CvSeqReader reader = new CvSeqReader();
int total = subdiv.Edges.Total;
int elem_size = subdiv.Edges.ElemSize;
subdiv.CalcVoronoi2D();
subdiv.Edges.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvQuadEdge2D edge = CvQuadEdge2D.FromSeqReader(reader);
//CvQuadEdge2D edge = CvQuadEdge2D.FromPtr(reader.Ptr);
if (Cv.IS_SET_ELEM(edge))
{
CvSubdiv2DEdge e = edge.ToCvSubdiv2DEdge();
// left
DrawSubdivFacet(img, e.RotateEdge(RotateEdgeFlag.Rotate));
// right
DrawSubdivFacet(img, e.RotateEdge(RotateEdgeFlag.ReverseRotate));
}
reader.NextSeqElem(elem_size);
//Cv.NEXT_SEQ_ELEM(elem_size, reader);
}
}
/// <summary>
///
/// </summary>
/// <param name="fileName"></param>
private static void SampleFileStorageReadSeq(string fileName)
{
// cvGetHashedKey, cvGetFileNode
using (CvFileStorage fs = new CvFileStorage("sequence.yml", null, FileStorageMode.Read))
{
CvStringHashNode xKey = fs.GetHashedKey("x", true);
CvStringHashNode yKey = fs.GetHashedKey("y", true);
CvFileNode points = fs.GetFileNodeByName(null, "points");
if ((points.Tag & NodeType.Seq) != 0)
{
CvSeq seq = points.DataSeq;
int total = seq.Total;
CvSeqReader reader = new CvSeqReader();
seq.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvFileNode pt = CvFileNode.FromPtr(reader.Ptr);
int x = fs.ReadIntByName(pt, "x", 0);
int y = fs.ReadIntByName(pt, "y", 0);
Cv.NEXT_SEQ_ELEM(seq.ElemSize, reader);
Console.WriteLine("{0}: ({1}, {2})", i, x, y);
}
}
}
Console.ReadKey();
}
/// <summary>
///
/// </summary>
/// <param name="img"></param>
/// <param name="subdiv"></param>
/// <param name="delaunay_color"></param>
/// <param name="voronoi_color"></param>
private void DrawSubdiv(IplImage img, CvSubdiv2D subdiv, CvColor delaunay_color, CvColor voronoi_color)
{
CvSeqReader reader = new CvSeqReader();
int total = subdiv.Edges.Total;
int elem_size = subdiv.Edges.ElemSize;
subdiv.Edges.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
//CvQuadEdge2D edge = (CvQuadEdge2D)reader.CvPtr;
CvQuadEdge2D edge = CvQuadEdge2D.FromSeqReader(reader);
if (Cv.IS_SET_ELEM(edge))
{
DrawSubdivEdge(img, (CvSubdiv2DEdge)edge + 1, voronoi_color);
DrawSubdivEdge(img, (CvSubdiv2DEdge)edge, delaunay_color);
}
//reader.NextSeqElem(elem_size);
Cv.NEXT_SEQ_ELEM(elem_size, reader);
}
}
/// <summary>
///
/// </summary>
/// <param name="objectKeypoints"></param>
/// <param name="objectDescriptors"></param>
/// <param name="imageKeypoints"></param>
/// <param name="imageDescriptors"></param>
/// <returns></returns>
private static int[] FindPairs(CvSeq<CvSURFPoint> objectKeypoints, CvSeq<float> objectDescriptors, CvSeq<CvSURFPoint> imageKeypoints, CvSeq<float> imageDescriptors)
{
CvSeqReader<float> reader = new CvSeqReader<float>();
CvSeqReader<CvSURFPoint> kreader = new CvSeqReader<CvSURFPoint>();
Cv.StartReadSeq(objectDescriptors, reader);
Cv.StartReadSeq(objectKeypoints, kreader);
List<int> ptpairs = new List<int>();
for (int i = 0; i < objectDescriptors.Total; i++)
{
CvSURFPoint kp = CvSURFPoint.FromPtr(kreader.Ptr);
IntPtr descriptor = reader.Ptr;
Cv.NEXT_SEQ_ELEM(kreader.Seq.ElemSize, kreader);
Cv.NEXT_SEQ_ELEM(reader.Seq.ElemSize, reader);
int nearestNeighbor = NaiveNearestNeighbor(descriptor, kp.Laplacian, imageKeypoints, imageDescriptors);
if (nearestNeighbor >= 0)
{
ptpairs.Add(i);
ptpairs.Add(nearestNeighbor);
}
}
return ptpairs.ToArray();
}
/// <summary>
///
/// </summary>
/// <param name="vec">Cではconst float*</param>
/// <param name="laplacian"></param>
/// <param name="model_keypoints"></param>
/// <param name="model_descriptors"></param>
/// <returns></returns>
private static int NaiveNearestNeighbor(IntPtr vec, int laplacian, CvSeq<CvSURFPoint> model_keypoints, CvSeq<float> model_descriptors)
{
int length = (int)(model_descriptors.ElemSize / sizeof(float));
int neighbor = -1;
double dist1 = 1e6, dist2 = 1e6;
CvSeqReader<float> reader = new CvSeqReader<float>();
CvSeqReader<CvSURFPoint> kreader = new CvSeqReader<CvSURFPoint>();
Cv.StartReadSeq(model_keypoints, kreader, false);
Cv.StartReadSeq(model_descriptors, reader, false);
IntPtr mvec;
CvSURFPoint kp;
double d;
for (int i = 0; i < model_descriptors.Total; i++)
{
// const CvSURFPoint* kp = (const CvSURFPoint*)kreader.ptr; が結構曲者。
// OpenCvSharpの構造体はFromPtrでポインタからインスタンス生成できるようにしてるので、こう書ける。
kp = CvSURFPoint.FromPtr(kreader.Ptr);
// まともにキャストする場合はこんな感じか
// CvSURFPoint kp = (CvSURFPoint)Marshal.PtrToStructure(kreader.Ptr, typeof(CvSURFPoint));
mvec = reader.Ptr;
Cv.NEXT_SEQ_ELEM(kreader.Seq.ElemSize, kreader);
Cv.NEXT_SEQ_ELEM(reader.Seq.ElemSize, reader);
if (laplacian != kp.Laplacian)
{
continue;
}
d = CompareSurfDescriptors(vec, mvec, dist2, length);
if (d < dist1)
{
dist2 = dist1;
dist1 = d;
neighbor = i;
}
else if (d < dist2)
dist2 = d;
}
if (dist1 < 0.6 * dist2)
return neighbor;
else
return -1;
}
/// <summary>
///
/// </summary>
/// <param name="img"></param>
/// <param name="subdiv"></param>
/// <param name="delaunay_color"></param>
/// <param name="voronoi_color"></param>
private void DrawSubdiv(IplImage img, CvSubdiv2D subdiv, CvColor delaunay_color, CvColor voronoi_color)
{
CvSeqReader reader = new CvSeqReader();
int total = subdiv.Edges.Total;
int elem_size = subdiv.Edges.ElemSize;
subdiv.Edges.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
//CvQuadEdge2D edge = (CvQuadEdge2D)reader.CvPtr;
CvQuadEdge2D edge = CvQuadEdge2D.FromSeqReader(reader);
if (Cv.IS_SET_ELEM(edge))
{
DrawSubdivEdge(img, (CvSubdiv2DEdge)edge + 1, voronoi_color);
DrawSubdivEdge(img, (CvSubdiv2DEdge)edge, delaunay_color);
}
//reader.NextSeqElem(elem_size);
Cv.NEXT_SEQ_ELEM(elem_size, reader);
}
}
/// <summary>
///
/// </summary>
/// <param name="subdiv"></param>
/// <param name="img"></param>
private void PaintVoronoi(CvSubdiv2D subdiv, IplImage img)
{
CvSeqReader reader = new CvSeqReader();
int total = subdiv.Edges.Total;
int elem_size = subdiv.Edges.ElemSize;
subdiv.CalcVoronoi2D();
subdiv.Edges.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvQuadEdge2D edge = CvQuadEdge2D.FromSeqReader(reader);
//CvQuadEdge2D edge = CvQuadEdge2D.FromPtr(reader.Ptr);
if (Cv.IS_SET_ELEM(edge))
{
CvSubdiv2DEdge e = edge.ToCvSubdiv2DEdge();
// left
DrawSubdivFacet(img, e.RotateEdge(RotateEdgeFlag.Rotate));
// right
DrawSubdivFacet(img, e.RotateEdge(RotateEdgeFlag.ReverseRotate));
}
reader.NextSeqElem(elem_size);
//Cv.NEXT_SEQ_ELEM(elem_size, reader);
}
}
/// <summary>
/// CvSeqReaderからCvQuadEdge2Dのインスタンスを読み込んで返す
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
#else
/// <summary>
/// Reads a CvQuadEdge2D instance from CvSeqReader
/// </summary>
/// <param name="reader"></param>
/// <returns></returns>
#endif
public static CvQuadEdge2D FromSeqReader(CvSeqReader reader)
{
if (reader == null)
{
throw new ArgumentNullException("reader");
}
return new CvQuadEdge2D(reader.Ptr);
}
/// <summary>
/// マップのシーケンスのファイルストレージからの読み込み
/// </summary>
/// <param name="fileName">書きこむXML or YAMLファイル</param>
private static void SampleFileStorageReadSeq(string fileName)
{
// cvGetHashedKey, cvGetFileNode
// 二つのエントリを持つマップのシーケンスをファイルから読み込む
// (1)ファイルストレージのオープン，ハッシュドキーの計算，シーケンスノードの取得
using (CvFileStorage fs = new CvFileStorage("sequence.yml", null, FileStorageMode.Read))
{
CvStringHashNode xKey = fs.GetHashedKey("x", true);
CvStringHashNode yKey = fs.GetHashedKey("y", true);
CvFileNode points = fs.GetFileNodeByName(null, "points");
// (2)シーケンスリーダを初期化，各ノードを順次取得
if ((points.Tag & NodeType.Seq) != 0)
{
CvSeq seq = points.DataSeq;
int total = seq.Total;
CvSeqReader reader = new CvSeqReader();
seq.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvFileNode pt = CvFileNode.FromPtr(reader.Ptr);
// (3)高速バージョン
/*
* CvFileNode xnode = fs.GetFileNode(pt, x_key, false);
* CvFileNode ynode = fs.GetFileNode(pt, y_key, false);
* Debug.Assert(
* xnode != null &&
* (xnode.Tag & NodeType.Integer) != 0 &&
* ynode != null &&
* (ynode.Tag & NodeType.Integer) != 0
* );
* int x = xnode.DataI;
* int i = ynode.DataI;
* //*/
// (4)低速バージョン．x_keyとy_keyを使わない
/*
* CvFileNode xnode = fs.GetFileNodeByName(pt, "x");
* CvFileNode ynode = fs.GetFileNodeByName(pt, "i");
* Debug.Assert(
* xnode != null &&
* (xnode.Tag & NodeType.Integer) != 0 &&
* ynode != null &&
* (ynode.Tag & NodeType.Integer) != 0
* );
* int x = xnode.DataI;
* int i = ynode.DataI;
* //*/
// (5)さらに低速だが，使いやすいバージョン
///*
int x = fs.ReadIntByName(pt, "x", 0);
int y = fs.ReadIntByName(pt, "y", 0);
//*/
// (6)データを表示し，次のシーケンスノードを取得
Cv.NEXT_SEQ_ELEM(seq.ElemSize, reader);
Console.WriteLine("{0}: ({1}, {2})", i, x, y);
}
}
}
Console.ReadKey();
}
/// <summary>
/// マップのシーケンスのファイルストレージからの読み込み
/// </summary>
/// <param name="fileName">書きこむXML or YAMLファイル</param>
private static void SampleFileStorageReadSeq(string fileName)
{
// cvGetHashedKey, cvGetFileNode
// 二つのエントリを持つマップのシーケンスをファイルから読み込む
// (1)ファイルストレージのオープン，ハッシュドキーの計算，シーケンスノードの取得
using (CvFileStorage fs = new CvFileStorage("sequence.yml", null, FileStorageMode.Read))
{
CvStringHashNode xKey = fs.GetHashedKey("x", true);
CvStringHashNode yKey = fs.GetHashedKey("y", true);
CvFileNode points = fs.GetFileNodeByName(null, "points");
// (2)シーケンスリーダを初期化，各ノードを順次取得
if ((points.Tag & NodeType.Seq) != 0)
{
CvSeq seq = points.DataSeq;
int total = seq.Total;
CvSeqReader reader = new CvSeqReader();
seq.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvFileNode pt = CvFileNode.FromPtr(reader.Ptr);
// (3)高速バージョン
/*
CvFileNode xnode = fs.GetFileNode(pt, x_key, false);
CvFileNode ynode = fs.GetFileNode(pt, y_key, false);
Debug.Assert(
xnode != null &&
(xnode.Tag & NodeType.Integer) != 0 &&
ynode != null &&
(ynode.Tag & NodeType.Integer) != 0
);
int x = xnode.DataI;
int i = ynode.DataI;
//*/
// (4)低速バージョン．x_keyとy_keyを使わない
/*
CvFileNode xnode = fs.GetFileNodeByName(pt, "x");
CvFileNode ynode = fs.GetFileNodeByName(pt, "i");
Debug.Assert(
xnode != null &&
(xnode.Tag & NodeType.Integer) != 0 &&
ynode != null &&
(ynode.Tag & NodeType.Integer) != 0
);
int x = xnode.DataI;
int i = ynode.DataI;
//*/
// (5)さらに低速だが，使いやすいバージョン
///*
int x = fs.ReadIntByName(pt, "x", 0);
int y = fs.ReadIntByName(pt, "y", 0);
//*/
// (6)データを表示し，次のシーケンスノードを取得
Cv.NEXT_SEQ_ELEM(seq.ElemSize, reader);
Console.WriteLine("{0}: ({1}, {2})", i, x, y);
}
}
}
Console.ReadKey();
}
/// <summary>
/// 単純な最近傍
/// </summary>
/// <param name="vec">Cではconst float*</param>
/// <param name="laplacian"></param>
/// <param name="model_keypoints"></param>
/// <param name="model_descriptors"></param>
/// <returns></returns>
private static int NaiveNearestNeighbor(
IntPtr vec, int laplacian,
CvSeq<CvSURFPoint> model_keypoints, CvSeq<IntPtr> model_descriptors)
{
int length = (int)(model_descriptors.ElemSize / sizeof(float));
int neighbor = -1;
double dist1 = 1e6;
double dist2 = 1e6;
using(CvSeqReader<float> reader = new CvSeqReader<float>())
using (CvSeqReader<CvSURFPoint> kreader = new CvSeqReader<CvSURFPoint>())
{
Cv.StartReadSeq(model_keypoints, kreader, false);
Cv.StartReadSeq(model_descriptors, reader, false);
IntPtr mvec;
CvSURFPoint kp;
double d;
for (int i = 0; i < model_descriptors.Total; i++)
{
// const CvSURFPoint* kp = (const CvSURFPoint*)kreader.ptr; が結構曲者。
// OpenCvSharpの構造体はFromPtrでポインタからインスタンス生成できるようにしてるので、こう書ける。
kp = CvSURFPoint.FromPtr(kreader.Ptr);
mvec = reader.Ptr;
Cv.NEXT_SEQ_ELEM(kreader.Seq.ElemSize, kreader);
Cv.NEXT_SEQ_ELEM(reader.Seq.ElemSize, reader);
if (laplacian != kp.Laplacian)
{
continue;
}
// SURF特徴点の比較を行う
d = CompareSURFDescriptors(vec, mvec, dist2, length);
if (d < dist1)
{
dist2 = dist1;
dist1 = d;
neighbor = i;
}
else if (d < dist2)
{
dist2 = d;
}
}
}
return (dist1 < dist2 * 0.6) ? neighbor : -1;
}
/// <summary>
/// 特徴点のペアを見つけて配列として返す
/// </summary>
/// <param name="objectKeypoints"></param>
/// <param name="objectDescriptors"></param>
/// <param name="imageKeypoints"></param>
/// <param name="imageDescriptors"></param>
/// <returns></returns>
private static int[] FindPairs(
CvSeq<CvSURFPoint> objectKeypoints, CvSeq<IntPtr> objectDescriptors,
CvSeq<CvSURFPoint> imageKeypoints, CvSeq<IntPtr> imageDescriptors)
{
List<int> ptPairs = new List<int>();
using(CvSeqReader<float> descReader = new CvSeqReader<float>())
using (CvSeqReader<CvSURFPoint> keyReader = new CvSeqReader<CvSURFPoint>())
{
Cv.StartReadSeq(objectDescriptors, descReader);
Cv.StartReadSeq(objectKeypoints, keyReader);
for (int i = 0; i < objectDescriptors.Total; i++)
{
CvSURFPoint keypoint = CvSURFPoint.FromPtr(keyReader.Ptr);
IntPtr descriptor = descReader.Ptr;
Cv.NEXT_SEQ_ELEM(keyReader.Seq.ElemSize, keyReader);
Cv.NEXT_SEQ_ELEM(descReader.Seq.ElemSize, descReader);
// 単純な最近傍によって類似度の高い要素を探す
int nearestNeighbor = NaiveNearestNeighbor(descriptor, keypoint.Laplacian, imageKeypoints, imageDescriptors);
if (nearestNeighbor >= 0)
{
ptPairs.Add(i);
ptPairs.Add(nearestNeighbor);
}
}
}
return ptPairs.ToArray();
}
/// <summary>
///
/// </summary>
/// <param name="fileName"></param>
private static void SampleFileStorageReadSeq(string fileName)
{
// cvGetHashedKey, cvGetFileNode
using (CvFileStorage fs = new CvFileStorage("sequence.yml", null, FileStorageMode.Read))
{
CvStringHashNode xKey = fs.GetHashedKey("x", true);
CvStringHashNode yKey = fs.GetHashedKey("y", true);
CvFileNode points = fs.GetFileNodeByName(null, "points");
if ((points.Tag & NodeType.Seq) != 0)
{
CvSeq seq = points.DataSeq;
int total = seq.Total;
CvSeqReader reader = new CvSeqReader();
seq.StartRead(reader, false);
for (int i = 0; i < total; i++)
{
CvFileNode pt = CvFileNode.FromPtr(reader.Ptr);
int x = fs.ReadIntByName(pt, "x", 0);
int y = fs.ReadIntByName(pt, "y", 0);
Cv.NEXT_SEQ_ELEM(seq.ElemSize, reader);
Console.WriteLine("{0}: ({1}, {2})", i, x, y);
}
}
}
Console.ReadKey();
}
