private void timer2_Tick(object sender, EventArgs e)
{
try
{
Bitmap img1 = ImageL;
Bitmap img2 = ImageR;
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
FastRetinaKeypoint[] keyPoints1;
FastRetinaKeypoint[] keyPoints2;
keyPoints1 = freak.ProcessImage(img1).ToArray();
keyPoints2 = freak.ProcessImage(img2).ToArray();
var matcher = new KNearestNeighborMatching <byte[]>(5, new Hamming());
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
// Get the two sets of points
correlationPoints1 = matches[0];
correlationPoints2 = matches[1];
RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.001, 0.99);
homography = ransac.Estimate(correlationPoints1, correlationPoints2);
// Plot RANSAC results against correlation results
//IntPoint[] inliers1 = correlationPoints1.Submatrix(ransac.Inliers);
//IntPoint[] inliers2 = correlationPoints2.Submatrix(ransac.Inliers);
Blend blend = new Blend(homography, img1);
m_stitpic_box.Image = blend.Apply(img2);
}
catch (Exception ex)
{
Console.WriteLine(ex.ToString());
}
}
public void MatchTest2()
{
var imgOld = Accord.Imaging.Image.Clone(Properties.Resources.old);
var imgNew = Accord.Imaging.Image.Clone(Properties.Resources._new);
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
var keyPoints1 = freak.ProcessImage(imgOld).ToArray();
var keyPoints2 = freak.ProcessImage(imgNew).ToArray();
var matcher = new KNearestNeighborMatching<byte[]>(5, new Hamming());
{ // direct
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(1, matches[0].Length);
Assert.AreEqual(1, matches[1].Length);
}
{ // reverse
IntPoint[][] matches = matcher.Match(keyPoints2, keyPoints1);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(1, matches[0].Length);
Assert.AreEqual(1, matches[1].Length);
}
}
private void btnCorrelation_Click(object sender, EventArgs e)
{
if (surfPoints1 == null)
{
MessageBox.Show("Please, click SURF button first! :-)");
return;
}
// Step 2: Match feature points using a k-NN
KNearestNeighborMatching matcher = new KNearestNeighborMatching(5);
IntPoint[][] matches = matcher.Match(surfPoints1, surfPoints2);
// Get the two sets of points
correlationPoints1 = matches[0];
correlationPoints2 = matches[1];
// Concatenate the two images in a single image (just to show on screen)
Concatenate concat = new Concatenate(img1);
Bitmap img3 = concat.Apply(img2);
// Show the marked correlations in the concatenated image
PairsMarker pairs = new PairsMarker(
correlationPoints1, // Add image1's width to the X points to show the markings correctly
correlationPoints2.Apply(p => new IntPoint(p.X + img1.Width, p.Y)));
pictureBox.Image = pairs.Apply(img3);
}
private void btnCorrelation_Click(object sender, EventArgs e)
{
if (surfPoints1 == null)
{
MessageBox.Show("Please, click SURF button first! :-)");
return;
}
// Step 2: Match feature points using a k-NN
KNearestNeighborMatching matcher = new KNearestNeighborMatching(5);
IntPoint[][] matches = matcher.Match(surfPoints1, surfPoints2);
// Get the two sets of points
correlationPoints1 = matches[0];
correlationPoints2 = matches[1];
// Concatenate the two images in a single image (just to show on screen)
Concatenate concat = new Concatenate(img1);
Bitmap img3 = concat.Apply(img2);
// Show the marked correlations in the concatenated image
PairsMarker pairs = new PairsMarker(
correlationPoints1, // Add image1's width to the X points to show the markings correctly
correlationPoints2.Apply(p => new IntPoint(p.X + img1.Width, p.Y)));
pictureBox.Image = pairs.Apply(img3);
}
public void MatchTest2()
{
var imgOld = Accord.Imaging.Image.Clone(Resources.old);
var imgNew = Accord.Imaging.Image.Clone(Resources._new);
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
var keyPoints1 = freak.ProcessImage(imgOld).ToArray();
var keyPoints2 = freak.ProcessImage(imgNew).ToArray();
var matcher = new KNearestNeighborMatching <byte[]>(5, new Hamming());
{ // direct
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(1, matches[0].Length);
Assert.AreEqual(1, matches[1].Length);
}
{ // reverse
IntPoint[][] matches = matcher.Match(keyPoints2, keyPoints1);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(1, matches[0].Length);
Assert.AreEqual(1, matches[1].Length);
}
}
private void knn()
{
KNearestNeighborMatching matcher = new KNearestNeighborMatching(5);
IntPoint[][] matches = matcher.Match(surfPoints1, surfPoints2);
// Get the two sets of points
correlationPoints1 = matches[0];
correlationPoints2 = matches[1];
// Concatenate the two images in a single image (just to show on screen)
Concatenate concat = new Concatenate(img1);
Bitmap img3 = concat.Apply(img2);
// Show the marked correlations in the concatenated image
PairsMarker pairs = new PairsMarker(
correlationPoints1, // Add image1's width to the X points to show the markings correctly
correlationPoints2.Apply(p => new IntPoint(p.X + img1.Width, p.Y)));
img3 = img3.Clone(new Rectangle(0, 0, img3.Width, img3.Height), PixelFormat.Format24bppRgb);
var pic = pairs.Apply(img3);
pictureBox1.Image = pic;
}
public void MatchTest3()
{
FastCornersDetector fast = new FastCornersDetector(threshold: 10);
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector(fast);
var keyPoints1 = freak.ProcessImage(Properties.Resources.old).ToArray();
var keyPoints2 = freak.ProcessImage(Properties.Resources.flower01).ToArray();
var matcher = new KNearestNeighborMatching <byte[]>(5, Distance.BitwiseHamming);
{ // direct
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(138, matches[0].Length);
Assert.AreEqual(138, matches[1].Length);
Assert.AreEqual(532, matches[0][0].X);
Assert.AreEqual(159, matches[0][0].Y);
Assert.AreEqual(keyPoints2[0].ToIntPoint(), matches[1][0]);
}
{ // reverse
IntPoint[][] matches = matcher.Match(keyPoints2, keyPoints1);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(138, matches[0].Length);
Assert.AreEqual(138, matches[1].Length);
Assert.AreEqual(keyPoints2[0].ToIntPoint(), matches[0][0]);
Assert.AreEqual(532, matches[1][0].X);
Assert.AreEqual(159, matches[1][0].Y);
}
}
protected void surfRansacBlendStraight(List <Bitmap> imgs)
{
MatrixH homography;
List <SpeededUpRobustFeaturePoint[]> surfPoints = new List <SpeededUpRobustFeaturePoint[]>();
//Calculate all the Surf Points
SpeededUpRobustFeaturesDetector surf = new SpeededUpRobustFeaturesDetector();
double lastAngle = 0;
for (int i = 0; i < imgs.Count; i++)
{
//Grayscale to find the edges and adjust the normal to point up
AForge.Imaging.Filters.GrayscaleBT709 grayscale = new AForge.Imaging.Filters.GrayscaleBT709();
AForge.Imaging.DocumentSkewChecker skew = new AForge.Imaging.DocumentSkewChecker();
double angle = skew.GetSkewAngle(grayscale.Apply(imgs[i]));
//Less than 5 deg change in angle to account for wobble, ignore big shifts
if (Math.Abs(angle - lastAngle) < 5)
{
AForge.Imaging.Filters.RotateBilinear rotate = new AForge.Imaging.Filters.RotateBilinear(angle);
rotate.FillColor = Color.FromArgb(0, 255, 255, 255);
imgs[i] = rotate.Apply(imgs[i]);
lastAngle = angle;
}
showImage(imgs[i]);
surfPoints.Add(surf.ProcessImage(imgs[i]).ToArray());
}
Bitmap final = imgs[0];
for (int i = 1; i < imgs.Count; i++)
{
SpeededUpRobustFeaturePoint[] surfFinal = surf.ProcessImage(final).ToArray();
//Correlate the Harris pts between imgs
KNearestNeighborMatching matcher = new KNearestNeighborMatching(5);
matcher.Threshold = 0.05;
IntPoint[][] matches = matcher.Match(surfFinal, surfPoints[i]);
//Create the homography matrix using RANSAC
RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.015, 1);
homography = ransac.Estimate(matches[0], matches[1]);
Blend blend = new Blend(homography, final);
blend.Gradient = true;
final = blend.Apply(imgs[i]);
}
//Smooth/Sharpen if I wanted to
AForge.Imaging.Filters.Sharpen filter = new AForge.Imaging.Filters.Sharpen();
//AForge.Imaging.Filters.Gaussian filter = new AForge.Imaging.Filters.Guassian(5);
//filter.ApplyInPlace(final);
showImage(final);
}
public void Panorama_Example1()
{
Accord.Math.Tools.SetupGenerator(0);
// Let's start with two pictures that have been
// taken from slightly different points of view:
//
Bitmap img1 = Resources.dc_left;
Bitmap img2 = Resources.dc_right;
// Those pictures are shown below:
// ImageBox.Show(img1, PictureBoxSizeMode.Zoom, 640, 480);
// ImageBox.Show(img2, PictureBoxSizeMode.Zoom, 640, 480);
// Step 1: Detect feature points using Surf Corners Detector
var surf = new SpeededUpRobustFeaturesDetector();
var points1 = surf.ProcessImage(img1);
var points2 = surf.ProcessImage(img2);
// Step 2: Match feature points using a k-NN
var matcher = new KNearestNeighborMatching(5);
var matches = matcher.Match(points1, points2);
// Step 3: Create the matrix using a robust estimator
var ransac = new RansacHomographyEstimator(0.001, 0.99);
MatrixH homographyMatrix = ransac.Estimate(matches);
Assert.AreEqual(1.13583624f, homographyMatrix.Elements[0], 1e-5);
Assert.AreEqual(-0.0229569562f, homographyMatrix.Elements[1], 1e-5);
Assert.AreEqual(-255.243988f, homographyMatrix.Elements[2], 1e-2);
Assert.AreEqual(0.080111593f, homographyMatrix.Elements[3], 1e-5);
Assert.AreEqual(1.11404252f, homographyMatrix.Elements[4], 1e-5);
Assert.AreEqual(-167.362167f, homographyMatrix.Elements[5], 1e-2);
Assert.AreEqual(0.00011207442f, homographyMatrix.Elements[6], 1e-5);
Assert.AreEqual(0.0000529394056f, homographyMatrix.Elements[7], 1e-5);
Assert.AreEqual(8, homographyMatrix.Elements.Length);
// Step 4: Project and blend using the homography
Blend blend = new Blend(homographyMatrix, img1);
// Compute the blending algorithm
Bitmap result = blend.Apply(img2);
// Show on screen
// ImageBox.Show(result, PictureBoxSizeMode.Zoom, 640, 480);
#pragma warning disable 618
double[,] expected = Properties.Resources.blend_result.ToDoubleMatrix(0);
double[,] actual = result.ToDoubleMatrix(0);
Assert.IsTrue(Matrix.IsEqual(expected, actual, 0.1));
#pragma warning restore 618
}
protected void surfRansacBlend(List <Bitmap> imgs)
{
MatrixH homography;
List <SpeededUpRobustFeaturePoint[]> surfPoints = new List <SpeededUpRobustFeaturePoint[]>();
//Calculate all the Surf Points
SpeededUpRobustFeaturesDetector surf = new SpeededUpRobustFeaturesDetector();
for (int i = 0; i < imgs.Count; i++)
{
surfPoints.Add(surf.ProcessImage(imgs[i]).ToArray());
}
Bitmap final = imgs[0];
for (int i = 1; i < imgs.Count; i++)
{
SpeededUpRobustFeaturePoint[] surfFinal = surf.ProcessImage(final).ToArray();
//Correlate the Harris pts between imgs
KNearestNeighborMatching matcher = new KNearestNeighborMatching(5);
matcher.Threshold = 0.05;
IntPoint[][] matches = matcher.Match(surfFinal, surfPoints[i]);
RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.015, 1);
homography = ransac.Estimate(matches[0], matches[1]);
Blend blend = new Blend(homography, final);
blend.Gradient = true;
final = blend.Apply(imgs[i]);
}
//Smooth/Sharpen if I wanted to
AForge.Imaging.Filters.Sharpen filter = new AForge.Imaging.Filters.Sharpen();
//AForge.Imaging.Filters.Gaussian filter = new AForge.Imaging.Filters.Guassian(5);
//filter.ApplyInPlace(final);
showImage(final);
}
public void MatchTest()
{
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
var keyPoints1 = freak.ProcessImage(Properties.Resources.image1).ToArray();
var keyPoints2 = freak.ProcessImage(Properties.Resources.image2).ToArray();
bool thrown = false;
try
{
var matcher = new KNearestNeighborMatching <byte[]>(5, Distance.BitwiseHamming);
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
}
catch (ArgumentException)
{
thrown = true;
}
Assert.IsTrue(thrown);
}
public void MatchTest()
{
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
var keyPoints1 = freak.ProcessImage(Properties.Resources.image1).ToArray();
var keyPoints2 = freak.ProcessImage(Properties.Resources.image2).ToArray();
bool thrown = false;
try
{
var matcher = new KNearestNeighborMatching<byte[]>(5, Distance.BitwiseHamming);
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
}
catch (ArgumentException)
{
thrown = true;
}
Assert.IsTrue(thrown);
}
protected void freakRansacBlend(List <Bitmap> imgs)
{
MatrixH homography;
List <FastRetinaKeypoint[]> freakPoints = new List <FastRetinaKeypoint[]>();
//Calculate all the FREAK Points
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
foreach (Bitmap img in imgs)
{
freakPoints.Add(freak.ProcessImage(img).ToArray());
}
//Map them and draw them!
Bitmap final = imgs[0];
for (int i = 1; i < imgs.Count; i++)
{
FastRetinaKeypoint[] freakFinal = freak.ProcessImage(final).ToArray();
KNearestNeighborMatching matcher = new KNearestNeighborMatching(500);
matcher.Threshold = 0.005;
IntPoint[][] matches = matcher.Match(freakFinal, freakPoints[i]);
RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.015, 1);
homography = ransac.Estimate(matches[0], matches[1]);
Blend blend = new Blend(homography, final);
blend.Gradient = true;
final = blend.Apply(imgs[i]);
}
//Smooth/Sharpen if I wanted to
AForge.Imaging.Filters.Sharpen filter = new AForge.Imaging.Filters.Sharpen();
//AForge.Imaging.Filters.Gaussian filter = new AForge.Imaging.Filters.Guassian(5);
//filter.ApplyInPlace(final);
showImage(final);
}
protected void drawFreakFeaturesCorrelations(List <Bitmap> imgs)
{
List <FastRetinaKeypoint[]> freakPoints = new List <FastRetinaKeypoint[]>();
//Calculate all the FREAK Points
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
foreach (Bitmap img in imgs)
{
freakPoints.Add(freak.ProcessImage(img).ToArray());
}
//Map them and draw them!
Bitmap img2 = imgs[0];
for (int i = 0; i < imgs.Count - 1; i++)
{
KNearestNeighborMatching matcher = new KNearestNeighborMatching(200);
matcher.Threshold = 0.015;
IntPoint[][] matches = matcher.Match(freakPoints[i], freakPoints[i + 1]);
Concatenate concat = new Concatenate(img2);
Bitmap img3 = concat.Apply(imgs[i + 1]);
Color color = Color.White;
if (i % 3 == 1)
{
color = Color.OrangeRed;
}
if (i % 3 == 2)
{
color = Color.Blue;
}
PairsMarker pairs = new PairsMarker(matches[0].Apply(p => new IntPoint(p.X + img2.Width - imgs[0].Width, p.Y)), matches[1].Apply(p => new IntPoint(p.X + img2.Width, p.Y)), color);
img2 = pairs.Apply(img3);
}
showImage(img2);
}
protected void drawSurfFeaturesCorrelations(List <Bitmap> imgs)
{
List <SpeededUpRobustFeaturePoint[]> surfPoints = new List <SpeededUpRobustFeaturePoint[]>();
//Calculate all the Surf Points
SpeededUpRobustFeaturesDetector surf = new SpeededUpRobustFeaturesDetector();
foreach (Bitmap img in imgs)
{
surfPoints.Add(surf.ProcessImage(img).ToArray());
}
//Map them and draw them!
Bitmap surfImg = imgs[0];
for (int i = 0; i < imgs.Count - 1; i++)
{
KNearestNeighborMatching matcher = new KNearestNeighborMatching(5);
matcher.Threshold = 0.005;
IntPoint[][] matches = matcher.Match(surfPoints[i], surfPoints[i + 1]);
Concatenate concat = new Concatenate(surfImg);
Bitmap img = concat.Apply(imgs[i + 1]);
Color color = Color.White;
if (i % 3 == 1)
{
color = Color.OrangeRed;
}
if (i % 3 == 2)
{
color = Color.Blue;
}
PairsMarker pairs = new PairsMarker(matches[0].Apply(p => new IntPoint(p.X + surfImg.Width - imgs[0].Width, p.Y)), matches[1].Apply(p => new IntPoint(p.X + surfImg.Width, p.Y)), color);
surfImg = pairs.Apply(img);
}
showImage(surfImg);
}
public void MatchTest2()
{
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
var keyPoints1 = freak.ProcessImage(Properties.Resources.old).ToArray();
var keyPoints2 = freak.ProcessImage(Properties.Resources._new).ToArray();
var matcher = new KNearestNeighborMatching <byte[]>(5, Distance.BitwiseHamming);
{ // direct
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(1, matches[0].Length);
Assert.AreEqual(1, matches[1].Length);
}
{ // reverse
IntPoint[][] matches = matcher.Match(keyPoints2, keyPoints1);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(1, matches[0].Length);
Assert.AreEqual(1, matches[1].Length);
}
}
public void MatchTest()
{
var image1 = Accord.Imaging.Image.Clone(Resources.image1);
var image2 = Accord.Imaging.Image.Clone(Resources.image2);
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
var keyPoints1 = freak.ProcessImage(image1).ToArray();
var keyPoints2 = freak.ProcessImage(image2).ToArray();
bool thrown = false;
try
{
var matcher = new KNearestNeighborMatching <byte[]>(5, new Hamming());
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
}
catch (ArgumentException)
{
thrown = true;
}
Assert.IsTrue(thrown);
}
public void Example1()
{
// Let's start with two pictures that have been
// taken from slightly different points of view:
//
Bitmap img1 = Resources.dc_left;
Bitmap img2 = Resources.dc_right;
// Those pictures are shown below:
ImageBox.Show(img1, PictureBoxSizeMode.Zoom, 640, 480);
ImageBox.Show(img2, PictureBoxSizeMode.Zoom, 640, 480);
// Step 1: Detect feature points using Surf Corners Detector
var surf = new SpeededUpRobustFeaturesDetector();
var points1 = surf.ProcessImage(img1);
var points2 = surf.ProcessImage(img2);
// Step 2: Match feature points using a k-NN
var matcher = new KNearestNeighborMatching(5);
var matches = matcher.Match(points1, points2);
// Step 3: Create the matrix using a robust estimator
var ransac = new RansacHomographyEstimator(0.001, 0.99);
MatrixH homographyMatrix = ransac.Estimate(matches);
// Step 4: Project and blend using the homography
Blend blend = new Blend(homographyMatrix, img1);
// Compute the blending algorithm
Bitmap result = blend.Apply(img2);
// Show on screen
ImageBox.Show(result, PictureBoxSizeMode.Zoom, 640, 480);
}
public void Example1()
{
// Let's start with two pictures that have been
// taken from slightly different points of view:
//
Bitmap img1 = Resources.dc_left;
Bitmap img2 = Resources.dc_right;
// Those pictures are shown below:
ImageBox.Show(img1, PictureBoxSizeMode.Zoom, 640, 480);
ImageBox.Show(img2, PictureBoxSizeMode.Zoom, 640, 480);
// Step 1: Detect feature points using Surf Corners Detector
var surf = new SpeededUpRobustFeaturesDetector();
var points1 = surf.ProcessImage(img1);
var points2 = surf.ProcessImage(img2);
// Step 2: Match feature points using a k-NN
var matcher = new KNearestNeighborMatching(5);
var matches = matcher.Match(points1, points2);
// Step 3: Create the matrix using a robust estimator
var ransac = new RansacHomographyEstimator(0.001, 0.99);
MatrixH homographyMatrix = ransac.Estimate(matches);
// Step 4: Project and blend using the homography
Blend blend = new Blend(homographyMatrix, img1);
// Compute the blending algorithm
Bitmap result = blend.Apply(img2);
// Show on screen
ImageBox.Show(result, PictureBoxSizeMode.Zoom, 640, 480);
}
public void MatchTest2()
{
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
var keyPoints1 = freak.ProcessImage(Properties.Resources.old).ToArray();
var keyPoints2 = freak.ProcessImage(Properties.Resources._new).ToArray();
var matcher = new KNearestNeighborMatching<byte[]>(5, Distance.BitwiseHamming);
{ // direct
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(1, matches[0].Length);
Assert.AreEqual(1, matches[1].Length);
}
{ // reverse
IntPoint[][] matches = matcher.Match(keyPoints2, keyPoints1);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(1, matches[0].Length);
Assert.AreEqual(1, matches[1].Length);
}
}
public void MatchTest3()
{
Accord.Math.Random.Generator.Seed = 0;
var old = Accord.Imaging.Image.Clone(Resources.old);
var flower01 = Accord.Imaging.Image.Clone(Resources.flower01);
FastCornersDetector fast = new FastCornersDetector(threshold: 10);
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector(fast);
var keyPoints1 = freak.ProcessImage(old).ToArray();
var keyPoints2 = freak.ProcessImage(flower01).ToArray();
var matcher = new KNearestNeighborMatching <byte[]>(5, new Hamming());
{ // direct
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(143, matches[0].Length);
Assert.AreEqual(143, matches[1].Length);
Assert.AreEqual(532, matches[0][0].X);
Assert.AreEqual(159, matches[0][0].Y);
Assert.AreEqual(keyPoints2[0].ToIntPoint(), matches[1][0]);
}
{ // reverse
IntPoint[][] matches = matcher.Match(keyPoints2, keyPoints1);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(143, matches[0].Length);
Assert.AreEqual(143, matches[1].Length);
Assert.AreEqual(keyPoints2[0].ToIntPoint(), matches[0][0]);
Assert.AreEqual(532, matches[1][0].X);
Assert.AreEqual(159, matches[1][0].Y);
}
}
/// <summary>
/// Extract keypoints from an image using the FREAK methodology.
/// </summary>
/// <param name="image">Input color image.</param>
/// <param name="depth">Input depth map.</param>
/// <param name="width">Input image width.</param>
/// <param name="height">Input image height.</param>
/// <param name="threshold">Selection threshold value. Higher gives less keypoints.</param>
/// <returns>List of keypoints in measurement space.</returns>
private List <SparseItem> ExtractKeypoints(Color[] image, float[][] depth, int width, int height, int threshold)
{
List <IFeaturePoint> keypointsF = ExtractRawKeyPoints(image, width, height, KeypointFilter);
List <SparseItem> keypoints = new List <SparseItem>();
List <IFeaturePoint> filtered = new List <IFeaturePoint>();
if (KeypointFilter && keypointsF.Count > 4 && prevkeypoints.Count > 4)
{
var descriptors = new Dictionary <IntPoint, IFeaturePoint>();
foreach (var point in keypointsF)
{
descriptors[new IntPoint((int)point.X, (int)point.Y)] = point;
}
var matcher = new KNearestNeighborMatching(3, Distance.Hamming);
matcher.Threshold = 0.37;
var matches = matcher.Match(prevkeypoints, keypointsF);
var ransac = new RansacHomographyEstimator(0.1, 0.999);
this.matches = new IntPoint[2][];
this.matches[0] = new IntPoint[0];
try {
if (matches[0].Length > 4)
{
ransac.Estimate(matches);
int[] inliers = ransac.Inliers;
filtered = new List <IFeaturePoint>();
this.matches = new IntPoint[2][];
this.matches[0] = new IntPoint[inliers.Length];
this.matches[1] = new IntPoint[inliers.Length];
for (int i = 0; i < inliers.Length; i++)
{
int x = matches[1][inliers[i]].X;
int y = matches[1][inliers[i]].Y;
this.matches[0][i] = matches[0][inliers[i]];
this.matches[1][i] = matches[1][inliers[i]];
if (depth[x][y] > 0)
{
filtered.Add(descriptors[matches[1][inliers[i]]]);
}
}
}
}
catch (Accord.ConvergenceException) {
// just continue as if not enough points were found
}
}
else
{
for (int i = 0; i < keypointsF.Count; i++)
{
int x = (int)keypointsF[i].X;
int y = (int)keypointsF[i].Y;
if (depth[x][y] > 0)
{
filtered.Add(keypointsF[i]);
}
}
}
this.prevprevkeypoints = this.prevkeypoints;
this.prevkeypoints = keypointsF;
foreach (var point in filtered)
{
int x = (int)point.X;
int y = (int)point.Y;
keypoints.Add(new SparseItem(x, y, depth[x][y]));
}
return(keypoints);
}
public FeaturePointMotionDetector()
{
_surf = new SpeededUpRobustFeaturesDetector();
_matcher = new KNearestNeighborMatching(5);
_prevPoints = null;
}
private Bitmap CompareAndDrawImage(Bitmap modelImage, Bitmap observedImage, SurfSettings setting)
{
Stopwatch watch1 = new Stopwatch();
Stopwatch watch2 = new Stopwatch();
Bitmap returnBitmap;
watch2.Start();
watch1.Reset(); watch1.Start();
double hessianThreshold = setting.HessianThresh.HasValue ? setting.HessianThresh.Value : 500;
float hessianThreshold2 = (float)hessianThreshold / 1000000;
Debug.WriteLine("hessianThreshold2: {0}", hessianThreshold2);
SpeededUpRobustFeaturesDetector surf = new SpeededUpRobustFeaturesDetector(hessianThreshold2);
List <SpeededUpRobustFeaturePoint> surfPoints1 = surf.ProcessImage(modelImage);
List <SpeededUpRobustFeaturePoint> surfPoints2 = surf.ProcessImage(observedImage);
Debug.WriteLine("Surf points count: {0}", surfPoints1.Count);
Debug.WriteLine("Surf points count: {0}", surfPoints2.Count);
//long memoryFootprint = MemorySize.GetBlobSizeinKb(surfPoints2);
//Debug.WriteLine("Surf extractor: {0} kb", memoryFootprint);
watch1.Stop();
Debug.WriteLine("Surf Detection tooked {0} ms", watch1.ElapsedMilliseconds);
watch1.Reset(); watch1.Start();
// Show the marked points in the original images
Bitmap img1mark = new FeaturesMarker(surfPoints1, 2).Apply(modelImage);
Bitmap img2mark = new FeaturesMarker(surfPoints2, 2).Apply(observedImage);
// Concatenate the two images together in a single image (just to show on screen)
Concatenate concatenate = new Concatenate(img1mark);
returnBitmap = concatenate.Apply(img2mark);
watch1.Stop();
Debug.WriteLine("Surf point plotting tooked {0} ms", watch1.ElapsedMilliseconds);
//watch1.Reset(); watch1.Start();
//List<IntPoint>[] coretionalMatches = getMatches(surfPoints1, surfPoints2);
//watch1.Stop();
//Debug.WriteLine("Correctional Match tooked {0} ms", watch1.ElapsedMilliseconds);
//// Get the two sets of points
//IntPoint[] correlationPoints11 = coretionalMatches[0].ToArray();
//IntPoint[] correlationPoints22 = coretionalMatches[1].ToArray();
//Debug.WriteLine("Correclation points count: {0}", correlationPoints11.Length);
//Debug.WriteLine("Correclation points count: {0}", correlationPoints22.Length);
Debug.WriteLine("Threshold: {0}", setting.UniquenessThreshold.Value);
watch1.Reset(); watch1.Start();
// Step 2: Match feature points using a k-NN
KNearestNeighborMatching matcher = new KNearestNeighborMatching(2);
matcher.Threshold = setting.UniquenessThreshold.Value;
IntPoint[][] matches = matcher.Match(surfPoints1, surfPoints2);
watch1.Stop();
Debug.WriteLine("Knn Match tooked {0} ms", watch1.ElapsedMilliseconds);
// Get the two sets of points
IntPoint[] correlationPoints1 = matches[0];
IntPoint[] correlationPoints2 = matches[1];
Debug.WriteLine("Knn points count: {0}", correlationPoints1.Length);
Debug.WriteLine("Knn points count: {0}", correlationPoints2.Length);
//watch1.Reset(); watch1.Start();
//// Show the marked correlations in the concatenated image
//PairsMarker pairs = new PairsMarker(
// correlationPoints1, // Add image1's width to the X points to show the markings correctly
// correlationPoints2.Apply(p => new IntPoint(p.X + modelImage.Width, p.Y)), Color.Blue);
//returnBitmap = pairs.Apply(returnBitmap);
//watch1.Stop();
//Debug.WriteLine("Match pair marking tooked {0} ms", watch1.ElapsedMilliseconds);
if (correlationPoints1.Length < 4 || correlationPoints2.Length < 4)
{
MessageBox.Show("Insufficient points to attempt a fit.");
return(null);
}
watch1.Reset(); watch1.Start();
// Step 3: Create the homography matrix using a robust estimator
//RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.001, 0.99);
RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.001, 0.99);
MatrixH homography = ransac.Estimate(correlationPoints1, correlationPoints2);
watch1.Stop();
Debug.WriteLine("Ransac tooked {0} ms", watch1.ElapsedMilliseconds);
watch1.Reset(); watch1.Start();
// Plot RANSAC results against correlation results
IntPoint[] inliers1 = correlationPoints1.Submatrix(ransac.Inliers);
IntPoint[] inliers2 = correlationPoints2.Submatrix(ransac.Inliers);
watch1.Stop();
Debug.WriteLine("Ransac SubMatrix {0} ms", watch1.ElapsedMilliseconds);
Debug.WriteLine("Ransac points count: {0}", inliers1.Length);
Debug.WriteLine("Ransac points count: {0}", inliers2.Length);
watch1.Reset(); watch1.Start();
PairsMarker inlierPairs = new PairsMarker(
inliers1, // Add image1's width to the X points to show the markings correctly
inliers2.Apply(p => new IntPoint(p.X + modelImage.Width, p.Y)), Color.Red);
returnBitmap = inlierPairs.Apply(returnBitmap);
watch1.Stop();
Debug.WriteLine("Ransac plotting tooked {0} ms", watch1.ElapsedMilliseconds);
watch2.Stop();
return(returnBitmap);
}
public void MatchTest3()
{
FastCornersDetector fast = new FastCornersDetector(threshold: 10);
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector(fast);
var keyPoints1 = freak.ProcessImage(Properties.Resources.old).ToArray();
var keyPoints2 = freak.ProcessImage(Properties.Resources.flower01).ToArray();
var matcher = new KNearestNeighborMatching<byte[]>(5, Distance.BitwiseHamming);
{ // direct
IntPoint[][] matches = matcher.Match(keyPoints1, keyPoints2);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(143, matches[0].Length);
Assert.AreEqual(143, matches[1].Length);
Assert.AreEqual(532, matches[0][0].X);
Assert.AreEqual(159, matches[0][0].Y);
Assert.AreEqual(keyPoints2[0].ToIntPoint(), matches[1][0]);
}
{ // reverse
IntPoint[][] matches = matcher.Match(keyPoints2, keyPoints1);
Assert.AreEqual(2, matches.Length);
Assert.AreEqual(143, matches[0].Length);
Assert.AreEqual(143, matches[1].Length);
Assert.AreEqual(keyPoints2[0].ToIntPoint(), matches[0][0]);
Assert.AreEqual(532, matches[1][0].X);
Assert.AreEqual(159, matches[1][0].Y);
}
}
public List <ImageRecord> QueryImage(string queryImagePath, out string messageToLog, SurfSettings surfSetting = null)
{
List <ImageRecord> rtnImageList = new List <ImageRecord>();
#region Diagnostic Region
Stopwatch sw = new Stopwatch();
Stopwatch sw1 = new Stopwatch();
long _loadingTime = 0, _modelImageDectionlong = 0, _queryingTime = 0, _matchingTime = 0;
#endregion Diagnostic Region
#region Surf Dectator Region
double hessianThresh = 500;
double uniquenessThreshold = 0.8;
int minGoodMatchPercent = 0;
if (surfSetting != null)
{
hessianThresh = surfSetting.HessianThresh.Value;
uniquenessThreshold = surfSetting.UniquenessThreshold.Value;
minGoodMatchPercent = surfSetting.GoodMatchThreshold.Value;
}
float hessianThreshold2 = (float)hessianThresh / 1000000;
SpeededUpRobustFeaturesDetector surf = new SpeededUpRobustFeaturesDetector(hessianThreshold2);
#endregion Surf Dectator Region
#region Get Model Dectection and Validation
sw.Reset(); sw.Start();
List <SpeededUpRobustFeaturePoint> modelImageSurfPoints;
using (Bitmap modelImage = (Bitmap)Image.FromFile(queryImagePath))
{
modelImageSurfPoints = surf.ProcessImage(modelImage);
}
if (modelImageSurfPoints == null ||
modelImageSurfPoints.Count < 4)
{
throw new InvalidOperationException("Insuffucient interesting point in query image, try another query image");
}
sw.Stop();
_modelImageDectionlong = sw.ElapsedMilliseconds;
#endregion
#region Search Images
sw.Reset(); sw.Start();
string fullFileName = Path.Combine(DirectoryHelper.SaveDirectoryPath, "SurfAccordLinear.bin");
if (!File.Exists(fullFileName))
{
string exMsg = string.Format("Can't get the Surf Index at {0}, please index first", fullFileName);
throw new FileNotFoundException(fullFileName);
}
using (FileStream fs = new FileStream(fullFileName, FileMode.Open, FileAccess.Read, FileShare.None))
{
System.Runtime.Serialization.Formatters.Binary.BinaryFormatter bf
= new System.Runtime.Serialization.Formatters.Binary.BinaryFormatter();
long fileLength = fs.Length;
while (fs.Position < fileLength)
{
SURFAccordRecord3 record = (SURFAccordRecord3)bf.Deserialize(fs);
KNearestNeighborMatching matcher = new KNearestNeighborMatching(2);
matcher.Threshold = uniquenessThreshold;
sw1.Start();
AForge.IntPoint[][] matches = matcher.Match(modelImageSurfPoints, record.SurfDescriptors);
sw1.Stop();
var countOfMatchPoint = matches[0].Length;
if (countOfMatchPoint > 0)
{
double totalnumberOfModelFeature = modelImageSurfPoints.Count;
double matchPercentage = ((totalnumberOfModelFeature - (double)countOfMatchPoint) / totalnumberOfModelFeature);
matchPercentage = (1 - matchPercentage) * 100;
matchPercentage = Math.Round(matchPercentage);
if (matchPercentage >= minGoodMatchPercent)
{
record.Distance = matchPercentage;
rtnImageList.Add(record.Clone());
}
}
record = null;
}
fs.Close();
}
sw.Stop();
_matchingTime = sw1.ElapsedMilliseconds;
_queryingTime = sw.ElapsedMilliseconds;
#endregion
string msg = String.Format("Loading: {0}, Model detection: {1}, Querying: {2}, Matching: {3}",
_loadingTime, _modelImageDectionlong, _queryingTime, _matchingTime);
messageToLog = msg;
if (rtnImageList.Count > 0)
{
rtnImageList = rtnImageList.OrderByDescending(rec => rec.Distance)
.ToList <ImageRecord>();
}
return(rtnImageList);
}
public void Panorama_Example1()
{
Accord.Math.Tools.SetupGenerator(0);
// Let's start with two pictures that have been
// taken from slightly different points of view:
//
Bitmap img1 = Resources.dc_left;
Bitmap img2 = Resources.dc_right;
// Those pictures are shown below:
// ImageBox.Show(img1, PictureBoxSizeMode.Zoom, 640, 480);
// ImageBox.Show(img2, PictureBoxSizeMode.Zoom, 640, 480);
// Step 1: Detect feature points using Surf Corners Detector
var surf = new SpeededUpRobustFeaturesDetector();
var points1 = surf.ProcessImage(img1);
var points2 = surf.ProcessImage(img2);
// Step 2: Match feature points using a k-NN
var matcher = new KNearestNeighborMatching(5);
var matches = matcher.Match(points1, points2);
// Step 3: Create the matrix using a robust estimator
var ransac = new RansacHomographyEstimator(0.001, 0.99);
MatrixH homographyMatrix = ransac.Estimate(matches);
Assert.AreEqual(1.15707409, homographyMatrix.Elements[0], 1e-5);
Assert.AreEqual(-0.0233834628, homographyMatrix.Elements[1], 1e-5);
Assert.AreEqual(-261.8217, homographyMatrix.Elements[2], 1e-2);
Assert.AreEqual(0.08801343, homographyMatrix.Elements[3], 1e-5);
Assert.AreEqual(1.12451434, homographyMatrix.Elements[4], 1e-5);
Assert.AreEqual(-171.191208, homographyMatrix.Elements[5], 1e-2);
Assert.AreEqual(0.000127789128, homographyMatrix.Elements[6], 1e-5);
Assert.AreEqual(0.00006173445, homographyMatrix.Elements[7], 1e-5);
Assert.AreEqual(8, homographyMatrix.Elements.Length);
// Step 4: Project and blend using the homography
Blend blend = new Blend(homographyMatrix, img1);
// Compute the blending algorithm
Bitmap result = blend.Apply(img2);
// Show on screen
// ImageBox.Show(result, PictureBoxSizeMode.Zoom, 640, 480);
//result.Save(@"C:\Projects\Accord.NET\net35.png", ImageFormat.Png);
#if NET35
Bitmap image = Properties.Resources.blend_net35;
#else
Bitmap image = Properties.Resources.blend_net45;
#endif
#pragma warning disable 618
double[,] expected = image.ToDoubleMatrix(0);
double[,] actual = result.ToDoubleMatrix(0);
Assert.IsTrue(Matrix.IsEqual(expected, actual, 0.1));
#pragma warning restore 618
}
private void UpdateDetector()
{
harris = new HarrisCornersDetector(configuration.K)
{
Threshold = configuration.Threshold,
Sigma = configuration.Sigma
};
matcher = new KNearestNeighborMatching(configuration.NoNearestNeighborMatching);
}
public void Panorama_Example1()
{
Accord.Math.Random.Generator.Seed = 0;
// Let's start with two pictures that have been
// taken from slightly different points of view:
//
Bitmap img1 = Accord.Imaging.Image.Clone(Resources.dc_left);
Bitmap img2 = Accord.Imaging.Image.Clone(Resources.dc_right);
// Those pictures are shown below:
// ImageBox.Show(img1, PictureBoxSizeMode.Zoom, 640, 480);
// ImageBox.Show(img2, PictureBoxSizeMode.Zoom, 640, 480);
// Step 1: Detect feature points using Surf Corners Detector
var surf = new SpeededUpRobustFeaturesDetector();
var points1 = surf.ProcessImage(img1);
var points2 = surf.ProcessImage(img2);
// Step 2: Match feature points using a k-NN
var matcher = new KNearestNeighborMatching(5);
var matches = matcher.Match(points1, points2);
// Step 3: Create the matrix using a robust estimator
var ransac = new RansacHomographyEstimator(0.001, 0.99);
MatrixH homographyMatrix = ransac.Estimate(matches);
Assert.AreEqual(1.15707409, homographyMatrix.Elements[0], 1e-5);
Assert.AreEqual(-0.0233834628, homographyMatrix.Elements[1], 1e-5);
Assert.AreEqual(-261.8217, homographyMatrix.Elements[2], 1e-2);
Assert.AreEqual(0.08801343, homographyMatrix.Elements[3], 1e-5);
Assert.AreEqual(1.12451434, homographyMatrix.Elements[4], 1e-5);
Assert.AreEqual(-171.191208, homographyMatrix.Elements[5], 1e-2);
Assert.AreEqual(0.000127789128, homographyMatrix.Elements[6], 1e-5);
Assert.AreEqual(0.00006173445, homographyMatrix.Elements[7], 1e-5);
Assert.AreEqual(8, homographyMatrix.Elements.Length);
// Step 4: Project and blend using the homography
Blend blend = new Blend(homographyMatrix, img1);
// Compute the blending algorithm
Bitmap result = blend.Apply(img2);
// Show on screen
// ImageBox.Show(result, PictureBoxSizeMode.Zoom, 640, 480);
result = Accord.Imaging.Image.Clone(result);
#if NET35
// result.Save(@"C:\Projects\Accord.NET\framework\Unit Tests\Accord.Tests.Imaging\Resources\blend_net35.png", ImageFormat.Png);
Bitmap image = Accord.Imaging.Image.Clone(Resources.blend_net35);
#else
// result.Save(@"C:\Projects\Accord.NET\framework\Unit Tests\Accord.Tests.Imaging\Resources\blend_net45.png", ImageFormat.Png);
Bitmap image = Accord.Imaging.Image.Clone(Resources.blend_net45);
#endif
#pragma warning disable 618
double[,] expected = image.ToDoubleMatrix(channel: 0);
double[,] actual = result.ToDoubleMatrix(channel: 0);
Assert.IsTrue(Matrix.IsEqual(expected, actual, atol: 0.1));
#pragma warning restore 618
}
private void process1()
{
var bitmap1 = (Bitmap)sourcebox1.Image;
var bitmap2 = (Bitmap)sourcebox2.Image;
var hash1 = ImagePhash.ComputeDigest(bitmap1.ToLuminanceImage());
var hash2 = ImagePhash.ComputeDigest(bitmap2.ToLuminanceImage());
var score = ImagePhash.GetCrossCorrelation(hash1, hash2);
Console.WriteLine("score: {0}", score);
//threshold value
var thres = new Threshold(110);
Grayscale filter = new Grayscale(0.2125, 0.7154, 0.0721);
// apply the filter to the model
Bitmap grey1 = filter.Apply(bitmap1);
thres.ApplyInPlace(grey1);
// Apply the filter to the observed image
Bitmap grey2 = filter.Apply(bitmap2);
thres.ApplyInPlace(grey2);
int modelPoints = 0, matchingPoints = 0;
var skewChecker = new DocumentSkewChecker();
var angle1 = skewChecker.GetSkewAngle(grey1);
var rotationFilter1 = new RotateBicubic(-angle1);
rotationFilter1.FillColor = Color.White;
grey1 = rotationFilter1.Apply(grey1);
var angle2 = skewChecker.GetSkewAngle(grey2);
var rotationFilter2 = new RotateBicubic(-angle2);
rotationFilter2.FillColor = Color.White;
grey2 = rotationFilter2.Apply(grey2);
//CorrelationMatching matcher = new CorrelationMatching(5, grey1, grey2);
//var results = matcher.GetHashCode();
var detector = new FastCornersDetector(15);
var freak = new FastRetinaKeypointDetector(detector);
FastRetinaKeypoint[] features1 = freak.Transform(grey1).ToArray();
modelPoints = features1.Count();
Console.WriteLine("count: {0}", modelPoints);
FastRetinaKeypoint[] features2 = freak.Transform(grey2).ToArray();
Console.WriteLine("count: {0}", features2.Count());
KNearestNeighborMatching matcher = new KNearestNeighborMatching(7);
//var length = 0;
IntPoint[][] results = matcher.Match(features1, features2);
matchingPoints = results[0].Count(); // similarity of image1 to image2
////matchingPoints = results[1].Count(); // similarity of image2 to image1
Console.WriteLine("matched points: {0}", matchingPoints);
sourcebox1.Image = bitmap1;
sourcebox2.Image = bitmap2;
var marker1 = new FeaturesMarker(features1, 30);
var marker2 = new FeaturesMarker(features2, 30);
double similPercent = 0;
if (matchingPoints <= 0)
{
similPercent = 0.0f;
}
similPercent = (matchingPoints * 100d) / (double)modelPoints;
Console.WriteLine("score: {0}", similPercent);
simil1.Text = similPercent.ToString("##.##") + "%";
simil2.Text = (score * 100.00d).ToString("##.##") + "%";
angle_text.Text = angle2.ToString("##.##") + "°";
resultbox1.Image = marker1.Apply(grey1);
resultbox2.Image = marker2.Apply(grey2);
}
public List<ImageRecord> QueryImage(string queryImagePath, out string messageToLog, SurfSettings surfSetting = null)
{
List<ImageRecord> rtnImageList = new List<ImageRecord>();
#region Diagnostic Region
Stopwatch sw = new Stopwatch();
Stopwatch sw1 = new Stopwatch();
long _loadingTime = 0, _modelImageDectionlong = 0, _queryingTime = 0, _matchingTime = 0;
#endregion Diagnostic Region
#region Surf Dectator Region
double hessianThresh = 500;
double uniquenessThreshold = 0.8;
int minGoodMatchPercent = 0;
if (surfSetting != null)
{
hessianThresh = surfSetting.HessianThresh.Value;
uniquenessThreshold = surfSetting.UniquenessThreshold.Value;
minGoodMatchPercent = surfSetting.GoodMatchThreshold.Value;
}
float hessianThreshold2 = (float)hessianThresh / 1000000;
SpeededUpRobustFeaturesDetector surf = new SpeededUpRobustFeaturesDetector(hessianThreshold2);
#endregion Surf Dectator Region
#region Get Model Dectection and Validation
sw.Reset(); sw.Start();
List<SpeededUpRobustFeaturePoint> modelImageSurfPoints;
using (Bitmap modelImage = (Bitmap)Image.FromFile(queryImagePath))
{
modelImageSurfPoints = surf.ProcessImage(modelImage);
}
if (modelImageSurfPoints == null
|| modelImageSurfPoints.Count < 4)
{
throw new InvalidOperationException("Insuffucient interesting point in query image, try another query image");
}
sw.Stop();
_modelImageDectionlong = sw.ElapsedMilliseconds;
#endregion
#region Search Images
sw.Reset(); sw.Start();
string fullFileName = Path.Combine(DirectoryHelper.SaveDirectoryPath, "SurfAccordLinear.bin");
if (!File.Exists(fullFileName))
{
string exMsg = string.Format("Can't get the Surf Index at {0}, please index first", fullFileName);
throw new FileNotFoundException(fullFileName);
}
using (FileStream fs = new FileStream(fullFileName, FileMode.Open, FileAccess.Read, FileShare.None))
{
System.Runtime.Serialization.Formatters.Binary.BinaryFormatter bf
= new System.Runtime.Serialization.Formatters.Binary.BinaryFormatter();
long fileLength = fs.Length;
while (fs.Position < fileLength)
{
SURFAccordRecord3 record = (SURFAccordRecord3)bf.Deserialize(fs);
KNearestNeighborMatching matcher = new KNearestNeighborMatching(2);
matcher.Threshold = uniquenessThreshold;
sw1.Start();
AForge.IntPoint[][] matches = matcher.Match(modelImageSurfPoints, record.SurfDescriptors);
sw1.Stop();
var countOfMatchPoint = matches[0].Length;
if (countOfMatchPoint > 0)
{
double totalnumberOfModelFeature = modelImageSurfPoints.Count;
double matchPercentage = ((totalnumberOfModelFeature - (double)countOfMatchPoint) / totalnumberOfModelFeature);
matchPercentage = (1 - matchPercentage) * 100;
matchPercentage = Math.Round(matchPercentage);
if (matchPercentage >= minGoodMatchPercent)
{
record.Distance = matchPercentage;
rtnImageList.Add(record.Clone());
}
}
record = null;
}
fs.Close();
}
sw.Stop();
_matchingTime = sw1.ElapsedMilliseconds;
_queryingTime = sw.ElapsedMilliseconds;
#endregion
string msg = String.Format("Loading: {0}, Model detection: {1}, Querying: {2}, Matching: {3}",
_loadingTime, _modelImageDectionlong, _queryingTime, _matchingTime);
messageToLog = msg;
if (rtnImageList.Count > 0)
{
rtnImageList = rtnImageList.OrderByDescending(rec => rec.Distance)
.ToList<ImageRecord>();
}
return rtnImageList;
}
private Bitmap CompareAndDrawImage(Bitmap modelImage, Bitmap observedImage, SurfSettings setting)
{
Stopwatch watch1 = new Stopwatch();
Stopwatch watch2 = new Stopwatch();
Bitmap returnBitmap;
watch2.Start();
watch1.Reset(); watch1.Start();
double hessianThreshold = setting.HessianThresh.HasValue ? setting.HessianThresh.Value : 500;
float hessianThreshold2 = (float)hessianThreshold / 1000000;
Debug.WriteLine("hessianThreshold2: {0}", hessianThreshold2);
SpeededUpRobustFeaturesDetector surf = new SpeededUpRobustFeaturesDetector(hessianThreshold2);
List<SpeededUpRobustFeaturePoint> surfPoints1 = surf.ProcessImage(modelImage);
List<SpeededUpRobustFeaturePoint> surfPoints2 = surf.ProcessImage(observedImage);
Debug.WriteLine("Surf points count: {0}", surfPoints1.Count);
Debug.WriteLine("Surf points count: {0}", surfPoints2.Count);
//long memoryFootprint = MemorySize.GetBlobSizeinKb(surfPoints2);
//Debug.WriteLine("Surf extractor: {0} kb", memoryFootprint);
watch1.Stop();
Debug.WriteLine("Surf Detection tooked {0} ms", watch1.ElapsedMilliseconds);
watch1.Reset(); watch1.Start();
// Show the marked points in the original images
Bitmap img1mark = new FeaturesMarker(surfPoints1, 2).Apply(modelImage);
Bitmap img2mark = new FeaturesMarker(surfPoints2, 2).Apply(observedImage);
// Concatenate the two images together in a single image (just to show on screen)
Concatenate concatenate = new Concatenate(img1mark);
returnBitmap = concatenate.Apply(img2mark);
watch1.Stop();
Debug.WriteLine("Surf point plotting tooked {0} ms", watch1.ElapsedMilliseconds);
//watch1.Reset(); watch1.Start();
//List<IntPoint>[] coretionalMatches = getMatches(surfPoints1, surfPoints2);
//watch1.Stop();
//Debug.WriteLine("Correctional Match tooked {0} ms", watch1.ElapsedMilliseconds);
//// Get the two sets of points
//IntPoint[] correlationPoints11 = coretionalMatches[0].ToArray();
//IntPoint[] correlationPoints22 = coretionalMatches[1].ToArray();
//Debug.WriteLine("Correclation points count: {0}", correlationPoints11.Length);
//Debug.WriteLine("Correclation points count: {0}", correlationPoints22.Length);
Debug.WriteLine("Threshold: {0}", setting.UniquenessThreshold.Value);
watch1.Reset(); watch1.Start();
// Step 2: Match feature points using a k-NN
KNearestNeighborMatching matcher = new KNearestNeighborMatching(2);
matcher.Threshold = setting.UniquenessThreshold.Value;
IntPoint[][] matches = matcher.Match(surfPoints1, surfPoints2);
watch1.Stop();
Debug.WriteLine("Knn Match tooked {0} ms", watch1.ElapsedMilliseconds);
// Get the two sets of points
IntPoint[] correlationPoints1 = matches[0];
IntPoint[] correlationPoints2 = matches[1];
Debug.WriteLine("Knn points count: {0}", correlationPoints1.Length);
Debug.WriteLine("Knn points count: {0}", correlationPoints2.Length);
//watch1.Reset(); watch1.Start();
//// Show the marked correlations in the concatenated image
//PairsMarker pairs = new PairsMarker(
// correlationPoints1, // Add image1's width to the X points to show the markings correctly
// correlationPoints2.Apply(p => new IntPoint(p.X + modelImage.Width, p.Y)), Color.Blue);
//returnBitmap = pairs.Apply(returnBitmap);
//watch1.Stop();
//Debug.WriteLine("Match pair marking tooked {0} ms", watch1.ElapsedMilliseconds);
if (correlationPoints1.Length < 4 || correlationPoints2.Length < 4)
{
MessageBox.Show("Insufficient points to attempt a fit.");
return null;
}
watch1.Reset(); watch1.Start();
// Step 3: Create the homography matrix using a robust estimator
//RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.001, 0.99);
RansacHomographyEstimator ransac = new RansacHomographyEstimator(0.001, 0.99);
MatrixH homography = ransac.Estimate(correlationPoints1, correlationPoints2);
watch1.Stop();
Debug.WriteLine("Ransac tooked {0} ms", watch1.ElapsedMilliseconds);
watch1.Reset(); watch1.Start();
// Plot RANSAC results against correlation results
IntPoint[] inliers1 = correlationPoints1.Submatrix(ransac.Inliers);
IntPoint[] inliers2 = correlationPoints2.Submatrix(ransac.Inliers);
watch1.Stop();
Debug.WriteLine("Ransac SubMatrix {0} ms", watch1.ElapsedMilliseconds);
Debug.WriteLine("Ransac points count: {0}", inliers1.Length);
Debug.WriteLine("Ransac points count: {0}", inliers2.Length);
watch1.Reset(); watch1.Start();
PairsMarker inlierPairs = new PairsMarker(
inliers1, // Add image1's width to the X points to show the markings correctly
inliers2.Apply(p => new IntPoint(p.X + modelImage.Width, p.Y)), Color.Red);
returnBitmap = inlierPairs.Apply(returnBitmap);
watch1.Stop();
Debug.WriteLine("Ransac plotting tooked {0} ms", watch1.ElapsedMilliseconds);
watch2.Stop();
return returnBitmap;
}
