/// <summary>
/// Writes data to a file storage.
/// </summary>
/// <param name="val"></param>
public FileStorage Add(DMatch val)
{
ThrowIfDisposed();
NativeMethods.core_FileStorage_shift_DMatch(ptr, val);
GC.KeepAlive(this);
return(this);
}
/// <summary>
/// Converts std::vector to managed array
/// </summary>
/// <returns></returns>
public DMatch[][] ToArray()
{
int size1 = Size1;
if (size1 == 0)
{
return(new DMatch[0][]);
}
long[] size2 = Size2;
DMatch[][] ret = new DMatch[size1][];
for (int i = 0; i < size1; i++)
{
ret[i] = new DMatch[size2[i]];
}
using (ArrayAddress2 <DMatch> retPtr = new ArrayAddress2 <DMatch>(ret))
{
NativeMethods.vector_vector_DMatch_copy(ptr, retPtr);
}
return(ret);
}
/// <summary>
/// Converts std::vector to managed array
/// </summary>
/// <returns></returns>
public DMatch[][] ToArray()
{
var size1 = Size1;
if (size1 == 0)
{
return(new DMatch[0][]);
}
var size2 = Size2;
var ret = new DMatch[size1][];
for (var i = 0; i < size1; i++)
{
ret[i] = new DMatch[size2[i]];
}
using (var retPtr = new ArrayAddress2 <DMatch>(ret))
{
NativeMethods.vector_vector_DMatch_copy(ptr, retPtr);
GC.KeepAlive(this);
}
return(ret);
}
/// <summary>
/// Converts std::vector to managed array
/// </summary>
/// <returns></returns>
public DMatch[][] ToArray()
{
var size1 = GetSize1();
if (size1 == 0)
{
return(Array.Empty <DMatch[]>());
}
var size2 = GetSize2();
var ret = new DMatch[size1][];
for (var i = 0; i < size1; i++)
{
ret[i] = new DMatch[size2[i]];
}
using (var retPtr = new ArrayAddress2 <DMatch>(ret))
{
NativeMethods.vector_vector_DMatch_copy(ptr, retPtr.GetPointer());
GC.KeepAlive(this);
}
return(ret);
}
public static extern ExceptionStatus core_FileNode_read_DMatch(IntPtr node, out DMatch returnValue);
public static extern ExceptionStatus core_FileStorage_shift_DMatch(IntPtr fs, DMatch val);
/// <summary>
///
/// </summary>
/// <param name="matches1to2"></param>
/// <param name="correctMatches1to2Mask"></param>
/// <returns>recallPrecisionCurve</returns>
public static Point2f[] ComputeRecallPrecisionCurve(
DMatch[][] matches1to2, byte[][] correctMatches1to2Mask)
{
if (matches1to2 == null)
throw new ArgumentNullException(nameof(matches1to2));
if (correctMatches1to2Mask == null)
throw new ArgumentNullException(nameof(correctMatches1to2Mask));
using (var dm = new ArrayAddress2<DMatch>(matches1to2))
using (var cm = new ArrayAddress2<byte>(correctMatches1to2Mask))
using (var recall = new VectorOfPoint2f())
{
NativeMethods.features2d_computeRecallPrecisionCurve(
dm.Pointer, dm.Dim1Length, dm.Dim2Lengths,
cm.Pointer, cm.Dim1Length, cm.Dim2Lengths,
recall.CvPtr);
return recall.ToArray();
}
}
public static extern void core_FileStorage_shift_DMatch(IntPtr fs, DMatch val);
public static extern void features2d_drawMatches1(IntPtr img1, KeyPoint[] keypoints1, int keypoints1Length,
IntPtr img2, KeyPoint[] keypoints2, int keypoints2Length,
DMatch[] matches1to2, int matches1to2Length, IntPtr outImg,
Scalar matchColor, Scalar singlePointColor,
byte[] matchesMask, int matchesMaskLength, int flags);
private static void VoteForUniqueness(DMatch[][] matches, Mat mask, float uniqnessThreshold = 0.80f)
{
byte[] maskData = new byte[matches.Length];
GCHandle maskHandle = GCHandle.Alloc(maskData, GCHandleType.Pinned);
using (Mat m = new Mat(matches.Length, 1, MatType.CV_8U, maskHandle.AddrOfPinnedObject()))
{
mask.CopyTo(m);
for (int i = 0; i < matches.Length; i++)
{
//This is also known as NNDR Nearest Neighbor Distance Ratio
if ((matches[i][0].Distance / matches[i][1].Distance) <= uniqnessThreshold)
maskData[i] = 255;
else
maskData[i] = 0;
}
m.CopyTo(mask);
}
maskHandle.Free();
}
static int VoteForSizeAndOrientation(KeyPoint[] modelKeyPoints, KeyPoint[] observedKeyPoints, DMatch[][] matches, Mat mask, float scaleIncrement, int rotationBins)
{
int idx = 0;
int nonZeroCount = 0;
byte[] maskMat = new byte[mask.Rows];
GCHandle maskHandle = GCHandle.Alloc(maskMat, GCHandleType.Pinned);
using (Mat m = new Mat(mask.Rows, 1, MatType.CV_8U, maskHandle.AddrOfPinnedObject()))
{
mask.CopyTo(m);
List<float> logScale = new List<float>();
List<float> rotations = new List<float>();
double s, maxS, minS, r;
maxS = -1.0e-10f; minS = 1.0e10f;
//if you get an exception here, it's because you're passing in the model and observed keypoints backwards. Just switch the order.
for (int i = 0; i < maskMat.Length; i++)
{
if (maskMat[i] > 0)
{
KeyPoint observedKeyPoint = observedKeyPoints[i];
KeyPoint modelKeyPoint = modelKeyPoints[matches[i][0].TrainIdx];
s = Math.Log10(observedKeyPoint.Size / modelKeyPoint.Size);
logScale.Add((float)s);
maxS = s > maxS ? s : maxS;
minS = s < minS ? s : minS;
r = observedKeyPoint.Angle - modelKeyPoint.Angle;
r = r < 0.0f ? r + 360.0f : r;
rotations.Add((float)r);
}
}
int scaleBinSize = (int)Math.Ceiling((maxS - minS) / Math.Log10(scaleIncrement));
if (scaleBinSize < 2)
scaleBinSize = 2;
float[] scaleRanges = { (float)minS, (float)(minS + scaleBinSize + Math.Log10(scaleIncrement)) };
using (MatOfFloat scalesMat = new MatOfFloat(rows: logScale.Count, cols: 1, data: logScale.ToArray()))
using (MatOfFloat rotationsMat = new MatOfFloat(rows: rotations.Count, cols: 1, data: rotations.ToArray()))
using (MatOfFloat flagsMat = new MatOfFloat(logScale.Count, 1))
using (Mat hist = new Mat())
{
flagsMat.SetTo(new Scalar(0.0f));
float[] flagsMatFloat1 = flagsMat.ToArray();
int[] histSize = { scaleBinSize, rotationBins };
float[] rotationRanges = { 0.0f, 360.0f };
int[] channels = { 0, 1 };
Rangef[] ranges = { new Rangef(scaleRanges[0], scaleRanges[1]), new Rangef(rotations.Min(), rotations.Max()) };
double minVal, maxVal;
Mat[] arrs = { scalesMat, rotationsMat };
Cv2.CalcHist(arrs, channels, null, hist, 2, histSize, ranges);
Cv2.MinMaxLoc(hist, out minVal, out maxVal);
Cv2.Threshold(hist, hist, maxVal * 0.5, 0, ThresholdTypes.Tozero);
Cv2.CalcBackProject(arrs, channels, hist, flagsMat, ranges);
MatIndexer<float> flagsMatIndexer = flagsMat.GetIndexer();
for (int i = 0; i < maskMat.Length; i++)
{
if (maskMat[i] > 0)
{
if (flagsMatIndexer[idx++] != 0.0f)
{
nonZeroCount++;
}
else
maskMat[i] = 0;
}
}
m.CopyTo(mask);
}
}
maskHandle.Free();
return nonZeroCount;
}
/// <summary> /// Compares by distance (less is better) /// </summary> /// <param name="other"></param> /// <returns></returns> public int CompareTo(DMatch other) => Distance.CompareTo(other.Distance);