/// <summary>
/// Draw keypoints.
/// </summary>
/// <param name="image">Source image.</param>
/// <param name="keypoints">Keypoints from the source image.</param>
/// <param name="outImage">Output image. Its content depends on the flags value defining what is drawn in the output image. See possible flags bit values below.</param>
/// <param name="color">Color of keypoints.</param>
/// <param name="flags">Flags setting drawing features. Possible flags bit values are defined by DrawMatchesFlags.</param>
public static void DrawKeypoints(
InputArray image,
IEnumerable <KeyPoint> keypoints,
InputOutputArray outImage,
Scalar?color = null,
DrawMatchesFlags flags = DrawMatchesFlags.Default)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (outImage == null)
{
throw new ArgumentNullException(nameof(outImage));
}
if (keypoints == null)
{
throw new ArgumentNullException(nameof(keypoints));
}
image.ThrowIfDisposed();
outImage.ThrowIfDisposed();
var keypointsArray = keypoints as KeyPoint[] ?? keypoints.ToArray();
var color0 = color.GetValueOrDefault(Scalar.All(-1));
NativeMethods.HandleException(
NativeMethods.features2d_drawKeypoints(image.CvPtr, keypointsArray, keypointsArray.Length, outImage.CvPtr, color0, (int)flags));
GC.KeepAlive(image);
GC.KeepAlive(outImage);
}
/// <summary>
/// Draws the found matches of keypoints from two images.
/// </summary>
/// <param name="img1">First source image.</param>
/// <param name="keypoints1">Keypoints from the first source image.</param>
/// <param name="img2">Second source image.</param>
/// <param name="keypoints2">Keypoints from the second source image.</param>
/// <param name="matches1To2">Matches from the first image to the second one, which means that keypoints1[i]
/// has a corresponding point in keypoints2[matches[i]] .</param>
/// <param name="outImg">Output image. Its content depends on the flags value defining what is drawn in the
/// output image. See possible flags bit values below.</param>
/// <param name="matchColor">Color of matches (lines and connected keypoints). If matchColor==Scalar::all(-1),
/// the color is generated randomly.</param>
/// <param name="singlePointColor">Color of single keypoints (circles), which means that keypoints do not
/// have the matches. If singlePointColor==Scalar::all(-1) , the color is generated randomly.</param>
/// <param name="matchesMask">Mask determining which matches are drawn. If the mask is empty, all matches are drawn.</param>
/// <param name="flags">Flags setting drawing features. Possible flags bit values are defined by DrawMatchesFlags.</param>
public static void DrawMatches(
Mat img1,
IEnumerable <KeyPoint> keypoints1,
Mat img2,
IEnumerable <KeyPoint> keypoints2,
IEnumerable <DMatch> matches1To2,
Mat outImg,
Scalar?matchColor = null,
Scalar?singlePointColor = null,
IEnumerable <byte>?matchesMask = null,
DrawMatchesFlags flags = DrawMatchesFlags.Default)
{
if (img1 == null)
{
throw new ArgumentNullException(nameof(img1));
}
if (img2 == null)
{
throw new ArgumentNullException(nameof(img2));
}
if (outImg == null)
{
throw new ArgumentNullException(nameof(outImg));
}
if (keypoints1 == null)
{
throw new ArgumentNullException(nameof(keypoints1));
}
if (keypoints2 == null)
{
throw new ArgumentNullException(nameof(keypoints2));
}
if (matches1To2 == null)
{
throw new ArgumentNullException(nameof(matches1To2));
}
img1.ThrowIfDisposed();
img2.ThrowIfDisposed();
outImg.ThrowIfDisposed();
var keypoints1Array = keypoints1 as KeyPoint[] ?? keypoints1.ToArray();
var keypoints2Array = keypoints2 as KeyPoint[] ?? keypoints2.ToArray();
var matches1To2Array = matches1To2 as DMatch[] ?? matches1To2.ToArray();
var matchColor0 = matchColor.GetValueOrDefault(Scalar.All(-1));
var singlePointColor0 = singlePointColor.GetValueOrDefault(Scalar.All(-1));
var matchesMaskArray = matchesMask as byte[] ?? matchesMask?.ToArray();
var matchesMaskLength = matchesMaskArray?.Length ?? 0;
NativeMethods.HandleException(
NativeMethods.features2d_drawMatches(
img1.CvPtr, keypoints1Array, keypoints1Array.Length,
img2.CvPtr, keypoints2Array, keypoints2Array.Length,
matches1To2Array, matches1To2Array.Length, outImg.CvPtr,
matchColor0, singlePointColor0, matchesMaskArray, matchesMaskLength, (int)flags));
GC.KeepAlive(img1);
GC.KeepAlive(img2);
GC.KeepAlive(outImg);
}
/// <summary>
/// Draws matches of keypoints from two images on output image.
/// </summary>
/// <param name="img1"></param>
/// <param name="keypoints1"></param>
/// <param name="img2"></param>
/// <param name="keypoints2"></param>
/// <param name="matches1To2"></param>
/// <param name="outImg"></param>
/// <param name="matchColor"></param>
/// <param name="singlePointColor"></param>
/// <param name="matchesMask"></param>
/// <param name="flags"></param>
public static void DrawMatches(Mat img1, IEnumerable <KeyPoint> keypoints1,
Mat img2, IEnumerable <KeyPoint> keypoints2,
IEnumerable <DMatch> matches1To2, Mat outImg,
Scalar?matchColor = null, Scalar?singlePointColor = null,
IEnumerable <byte> matchesMask = null, DrawMatchesFlags flags = DrawMatchesFlags.Default)
{
if (img1 == null)
{
throw new ArgumentNullException(nameof(img1));
}
if (img2 == null)
{
throw new ArgumentNullException(nameof(img2));
}
if (outImg == null)
{
throw new ArgumentNullException(nameof(outImg));
}
if (keypoints1 == null)
{
throw new ArgumentNullException(nameof(keypoints1));
}
if (keypoints2 == null)
{
throw new ArgumentNullException(nameof(keypoints2));
}
if (matches1To2 == null)
{
throw new ArgumentNullException(nameof(matches1To2));
}
img1.ThrowIfDisposed();
img2.ThrowIfDisposed();
outImg.ThrowIfDisposed();
KeyPoint[] keypoints1Array = EnumerableEx.ToArray(keypoints1);
KeyPoint[] keypoints2Array = EnumerableEx.ToArray(keypoints2);
DMatch[] matches1To2Array = EnumerableEx.ToArray(matches1To2);
Scalar matchColor0 = matchColor.GetValueOrDefault(Scalar.All(-1));
Scalar singlePointColor0 = singlePointColor.GetValueOrDefault(Scalar.All(-1));
byte[] matchesMaskArray = null;
int matchesMaskLength = 0;
if (matchesMask != null)
{
matchesMaskArray = EnumerableEx.ToArray(matchesMask);
matchesMaskLength = matchesMaskArray.Length;
}
NativeMethods.features2d_drawMatches1(img1.CvPtr, keypoints1Array, keypoints1Array.Length,
img2.CvPtr, keypoints2Array, keypoints2Array.Length,
matches1To2Array, matches1To2Array.Length, outImg.CvPtr,
matchColor0, singlePointColor0, matchesMaskArray, matchesMaskLength, (int)flags);
GC.KeepAlive(img1);
GC.KeepAlive(img2);
GC.KeepAlive(outImg);
}
/// <summary>
/// 指定したラベル値のところのみを非0で残したマスク画像を返す
/// </summary>
/// <param name="label"></param>
/// <returns></returns>
private Mat GetLabelMask(int label)
{
int rows = Labels.GetLength(0);
int cols = Labels.GetLength(1);
using (var labels = new Mat(rows, cols, MatType.CV_32SC1, Labels))
using (var cmp = new Mat(rows, cols, MatType.CV_32SC1, Scalar.All(label)))
{
Mat result = new Mat();
Cv2.Compare(labels, cmp, result, CmpTypes.EQ);
return(result);
}
}
/// <summary>
/// Draws all blobs to the specified image.
/// </summary>
/// <param name="img">The target image to be drawn.</param>
public void RenderBlobs(Mat img)
{
if (img == null)
{
throw new ArgumentNullException(nameof(img));
}
/*
* if (img.Empty())
* throw new ArgumentException("img is empty");
* if (img.Type() != MatType.CV_8UC3)
* throw new ArgumentException("img must be CV_8UC3");*/
if (Blobs == null || Blobs.Count == 0)
{
throw new OpenCvSharpException("Blobs is empty");
}
if (Labels == null)
{
throw new OpenCvSharpException("Labels is empty");
}
var height = Labels.GetLength(0);
var width = Labels.GetLength(1);
img.Create(new Size(width, height), MatType.CV_8UC3);
var colors = new Scalar[Blobs.Count];
colors[0] = Scalar.All(0);
for (var i = 1; i < Blobs.Count; i++)
{
colors[i] = Scalar.RandomColor();
}
using (var imgt = new Mat <Vec3b>(img))
{
var indexer = imgt.GetIndexer();
for (var y = 0; y < height; y++)
{
for (var x = 0; x < width; x++)
{
var labelValue = Labels[y, x];
indexer[y, x] = colors[labelValue].ToVec3b();
}
}
}
}
/// <summary>
/// Draw keypoints.
/// </summary>
/// <param name="image"></param>
/// <param name="keypoints"></param>
/// <param name="outImage"></param>
/// <param name="color"></param>
/// <param name="flags"></param>
public static void DrawKeypoints(Mat image, IEnumerable <KeyPoint> keypoints, Mat outImage,
Scalar?color = null, DrawMatchesFlags flags = DrawMatchesFlags.Default)
{
if (image == null)
{
throw new ArgumentNullException("image");
}
if (outImage == null)
{
throw new ArgumentNullException("outImage");
}
if (keypoints == null)
{
throw new ArgumentNullException("keypoints");
}
image.ThrowIfDisposed();
outImage.ThrowIfDisposed();
KeyPoint[] keypointsArray = EnumerableEx.ToArray(keypoints);
Scalar color0 = color.GetValueOrDefault(Scalar.All(-1));
NativeMethods.features2d_drawKeypoints(image.CvPtr, keypointsArray, keypointsArray.Length,
outImage.CvPtr, color0, (int)flags);
}
/// <summary>
/// Draws the found matches of keypoints from two images.
/// </summary>
/// <param name="img1">First source image.</param>
/// <param name="keypoints1">Keypoints from the first source image.</param>
/// <param name="img2">Second source image.</param>
/// <param name="keypoints2">Keypoints from the second source image.</param>
/// <param name="matches1To2">Matches from the first image to the second one, which means that keypoints1[i]
/// has a corresponding point in keypoints2[matches[i]] .</param>
/// <param name="outImg">Output image. Its content depends on the flags value defining what is drawn in the
/// output image. See possible flags bit values below.</param>
/// <param name="matchColor">Color of matches (lines and connected keypoints). If matchColor==Scalar::all(-1),
/// the color is generated randomly.</param>
/// <param name="singlePointColor">Color of single keypoints (circles), which means that keypoints do not
/// have the matches. If singlePointColor==Scalar::all(-1) , the color is generated randomly.</param>
/// <param name="matchesMask">Mask determining which matches are drawn. If the mask is empty, all matches are drawn.</param>
/// <param name="flags">Flags setting drawing features. Possible flags bit values are defined by DrawMatchesFlags.</param>
public static void DrawMatchesKnn(
Mat img1,
IEnumerable <KeyPoint> keypoints1,
Mat img2,
IEnumerable <KeyPoint> keypoints2,
IEnumerable <IEnumerable <DMatch> > matches1To2,
Mat outImg,
Scalar?matchColor = null,
Scalar?singlePointColor = null,
IEnumerable <IEnumerable <byte> >?matchesMask = null,
DrawMatchesFlags flags = DrawMatchesFlags.Default)
{
if (img1 == null)
{
throw new ArgumentNullException(nameof(img1));
}
if (img2 == null)
{
throw new ArgumentNullException(nameof(img2));
}
if (outImg == null)
{
throw new ArgumentNullException(nameof(outImg));
}
if (keypoints1 == null)
{
throw new ArgumentNullException(nameof(keypoints1));
}
if (keypoints2 == null)
{
throw new ArgumentNullException(nameof(keypoints2));
}
if (matches1To2 == null)
{
throw new ArgumentNullException(nameof(matches1To2));
}
img1.ThrowIfDisposed();
img2.ThrowIfDisposed();
outImg.ThrowIfDisposed();
var keypoints1Array = keypoints1 as KeyPoint[] ?? keypoints1.ToArray();
var keypoints2Array = keypoints2 as KeyPoint[] ?? keypoints2.ToArray();
var matches1To2Array = matches1To2.Select(m => m.ToArray()).ToArray();
var matches1To2Size1 = matches1To2Array.Length;
var matches1To2Size2 = matches1To2Array.Select(dm => dm.Length).ToArray();
var matchColor0 = matchColor.GetValueOrDefault(Scalar.All(-1));
var singlePointColor0 = singlePointColor.GetValueOrDefault(Scalar.All(-1));
using var matches1To2Ptr = new ArrayAddress2 <DMatch>(matches1To2Array);
if (matchesMask == null)
{
NativeMethods.HandleException(
NativeMethods.features2d_drawMatchesKnn(
img1.CvPtr, keypoints1Array, keypoints1Array.Length,
img2.CvPtr, keypoints2Array, keypoints2Array.Length,
matches1To2Ptr, matches1To2Size1, matches1To2Size2,
outImg.CvPtr, matchColor0, singlePointColor0,
null, 0, null, (int)flags));
}
else
{
var matchesMaskArray = matchesMask.Select(m => m.ToArray()).ToArray();
var matchesMaskSize1 = matches1To2Array.Length;
var matchesMaskSize2 = matchesMaskArray.Select(dm => dm.Length).ToArray();
using var matchesMaskPtr = new ArrayAddress2 <byte>(matchesMaskArray);
NativeMethods.HandleException(
NativeMethods.features2d_drawMatchesKnn(
img1.CvPtr, keypoints1Array, keypoints1Array.Length,
img2.CvPtr, keypoints2Array, keypoints2Array.Length,
matches1To2Ptr.Pointer, matches1To2Size1, matches1To2Size2,
outImg.CvPtr, matchColor0, singlePointColor0,
matchesMaskPtr, matchesMaskSize1, matchesMaskSize2, (int)flags));
}
GC.KeepAlive(img1);
GC.KeepAlive(img2);
GC.KeepAlive(outImg);
}
/// <summary>
/// Draws matches of keypints from two images on output image.
/// </summary>
/// <param name="img1"></param>
/// <param name="keypoints1"></param>
/// <param name="img2"></param>
/// <param name="keypoints2"></param>
/// <param name="matches1To2"></param>
/// <param name="outImg"></param>
/// <param name="matchColor"></param>
/// <param name="singlePointColor"></param>
/// <param name="matchesMask"></param>
/// <param name="flags"></param>
public static void DrawMatches(Mat img1, IEnumerable <KeyPoint> keypoints1,
Mat img2, IEnumerable <KeyPoint> keypoints2,
IEnumerable <IEnumerable <DMatch> > matches1To2, Mat outImg,
Scalar?matchColor = null, Scalar?singlePointColor = null,
IEnumerable <IEnumerable <byte> > matchesMask = null,
DrawMatchesFlags flags = DrawMatchesFlags.Default)
{
if (img1 == null)
{
throw new ArgumentNullException("img1");
}
if (img2 == null)
{
throw new ArgumentNullException("img2");
}
if (outImg == null)
{
throw new ArgumentNullException("outImg");
}
if (keypoints1 == null)
{
throw new ArgumentNullException("keypoints1");
}
if (keypoints2 == null)
{
throw new ArgumentNullException("keypoints2");
}
if (matches1To2 == null)
{
throw new ArgumentNullException("matches1To2");
}
img1.ThrowIfDisposed();
img2.ThrowIfDisposed();
outImg.ThrowIfDisposed();
KeyPoint[] keypoints1Array = EnumerableEx.ToArray(keypoints1);
KeyPoint[] keypoints2Array = EnumerableEx.ToArray(keypoints2);
DMatch[][] matches1To2Array = EnumerableEx.SelectToArray(matches1To2, EnumerableEx.ToArray);
int matches1To2Size1 = matches1To2Array.Length;
int[] matches1To2Size2 = EnumerableEx.SelectToArray(matches1To2Array, dm => dm.Length);
Scalar matchColor0 = matchColor.GetValueOrDefault(Scalar.All(-1));
Scalar singlePointColor0 = singlePointColor.GetValueOrDefault(Scalar.All(-1));
using (var matches1To2Ptr = new ArrayAddress2 <DMatch>(matches1To2Array))
{
if (matchesMask == null)
{
NativeMethods.features2d_drawMatches2(img1.CvPtr, keypoints1Array, keypoints1Array.Length,
img2.CvPtr, keypoints2Array, keypoints2Array.Length,
matches1To2Ptr, matches1To2Size1, matches1To2Size2,
outImg.CvPtr, matchColor0, singlePointColor0,
null, 0, null, (int)flags);
}
else
{
byte[][] matchesMaskArray = EnumerableEx.SelectToArray(matchesMask, EnumerableEx.ToArray);
int matchesMaskSize1 = matches1To2Array.Length;
int[] matchesMaskSize2 = EnumerableEx.SelectToArray(matchesMaskArray, dm => dm.Length);
using (var matchesMaskPtr = new ArrayAddress2 <byte>(matchesMaskArray))
{
NativeMethods.features2d_drawMatches2(img1.CvPtr, keypoints1Array, keypoints1Array.Length,
img2.CvPtr, keypoints2Array, keypoints2Array.Length,
matches1To2Ptr.Pointer, matches1To2Size1, matches1To2Size2,
outImg.CvPtr, matchColor0, singlePointColor0,
matchesMaskPtr, matchesMaskSize1, matchesMaskSize2, (int)flags);
}
}
}
}
