/// <summary>
/// Detect image features from the given image
/// </summary>
/// <param name="image">The image to detect features from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <returns>The Image features detected from the given image</returns>
public ImageFeature[] DetectFeatures(Image <Gray, Byte> image, Image <Gray, byte> mask)
{
using (VectorOfKeyPoint kpts = DetectKeyPointsRaw(image, mask))
using (Matrix <float> desc = ComputeDescriptorsRaw(image, mask, kpts))
{
return(Features2DTracker.ConvertToImageFeature(kpts, desc));
}
}
/// <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 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));
}
}
}
