/// <summary>
/// Checks and produces mask where values != 0 means that values on those indicies are in the range.
/// </summary>
/// <param name="img">Input image.</param>
/// <param name="min">Minimal value.</param>
/// <param name="max">Maximal value.</param>
/// <param name="valueToSet">Value to set to result mask.</param>
/// <param name="channelIndicies">Which channel indicies to check. If not used then it is assumed that all indicies are used.</param>
/// <returns>Mask</returns>
public static Gray <byte>[,] InRange <TColor>(this TColor[,] img, TColor min, TColor max, byte valueToSet = 255, params int[] channelIndicies)
where TColor : struct, IColor <byte>
{
var minArr = min.ColorToArray <TColor, byte>();
var maxArr = max.ColorToArray <TColor, byte>();
if (channelIndicies == null || channelIndicies.Length == 0)
{
channelIndicies = Enumerable.Range(0, img.ColorInfo().ChannelCount).ToArray();
}
if (channelIndicies.Length > img.ColorInfo().ChannelCount)
{
throw new Exception("Number of processed channels must not exceed the number of available image channels!");
}
var destMask = new Gray <byte> [img.Height(), img.Width()];
destMask.SetValue <Gray <byte> >(Byte.MaxValue);
using (var uImg = img.Lock())
using (var uDestMask = destMask.Lock())
{
inRangeByte(uImg, minArr, maxArr, channelIndicies, uDestMask, valueToSet);
}
return(destMask);
}
/// <summary>
/// Does non-maxima supression for the following gray image. Can be useful for detections filtering (e.g. post-processing output from Harris detector).
/// </summary>
/// <param name="img">Image.</param>
/// <param name="dest">Destination image. Must have the same size as source image.</param>
/// <param name="radius">Non-maxima supression radius (kernel radius).</param>
/// <param name="discardValue">The value will be discarded (0 - for black).</param>
public static void SupressNonMaxima(this Gray <float>[,] img, Gray <float>[,] dest, int radius = 3, int discardValue = 0)
{
using (var uImg = img.Lock())
using (var uDest = dest.Lock())
{
supressNonMaxima_Float(uImg, uDest, radius, discardValue);
}
}
/// <summary>
/// Does non-maxima supression for the following gray image. Can be useful for detections filtering (e.g. post-processing output from Harris detector).
/// </summary>
/// <param name="img">Image.</param>
/// <param name="dest">Destination image. Must have the same size as source image.</param>
/// <param name="radius">Non-maxima supression radius (kernel radius).</param>
/// <param name="discardValue">The value will be discarded (0 - for black).</param>
public static void SupressNonMaxima(this Gray<float>[,] img, Gray<float>[,] dest, int radius = 3, int discardValue = 0)
{
using (var uImg = img.Lock())
using(var uDest = dest.Lock())
{
supressNonMaxima_Float(uImg, uDest, radius, discardValue);
}
}
/// <summary>
/// Replaces the selected image channel with the specified channel.
/// </summary>
/// <typeparam name="TSrcColor">Source color type.</typeparam>
/// <typeparam name="TDepth">Channel depth type.</typeparam>
/// <param name="image">Image.</param>
/// <param name="channel">Channel.</param>
/// <param name="channelIndex">Index of a channel to replace.</param>
public static void ReplaceChannel <TSrcColor, TDepth>(this TSrcColor[,] image, Gray <TDepth>[,] channel, int channelIndex)
where TSrcColor : struct, IColor <TDepth>
where TDepth : struct
{
using (var im = image.Lock())
using (var ch = channel.Lock())
{
replaceChannel <TSrcColor, TDepth>(im, ch, channelIndex);
}
}
/// <summary>
/// Converts an image to an bitmap.
/// </summary>
/// <param name="img">Input image.</param>
/// <returns>Bitmap</returns>
public static Bitmap ToBitmap(this Gray <short>[,] img)
{
Bitmap bmp = null;
using (var uImg = img.Lock())
{
bmp = toBitmap(uImg, PixelFormat.Format16bppGrayScale);
}
return(bmp);
}
/// <summary>
/// Converts an image to an bitmap.
/// </summary>
/// <param name="img">Input image.</param>
/// <returns>Bitmap</returns>
public static Bitmap ToBitmap(this Gray <byte>[,] img)
{
Bitmap bmp = null;
using (var uImg = img.Lock())
{
bmp = toBitmap(uImg, PixelFormat.Format8bppIndexed);
}
return(bmp);
}
/// <summary>
/// Process image looking for corners.
/// </summary>
/// <param name="cornerDetector">Corner detection algorithm instance.</param>
/// <param name="image">Source image to process.</param>
/// <returns>Returns list of found corners (X-Y coordinates).</returns>
public static List <Point> ProcessImage(this ICornersDetector cornerDetector, Gray <byte>[,] image)
{
List <Point> points = null;
using (var uImg = image.Lock())
{
points = cornerDetector.ProcessImage(uImg.AsAForgeImage());
}
return(points);
}
/// <summary>
/// Process image looking for corners.
/// </summary>
/// <param name="cornerDetector">Corner detection algorithm instance.</param>
/// <param name="image">Source image to process.</param>
/// <returns>Returns list of found corners (X-Y coordinates).</returns>
public static List<Point> ProcessImage(this ICornersDetector cornerDetector, Gray<byte>[,] image)
{
List<Point> points = null;
using (var uImg = image.Lock())
{
points = cornerDetector.ProcessImage(uImg.AsAForgeImage())
.Select(x => x.ToPoint())
.ToList();
}
return points;
}
/// <summary>
/// Gets specified image portion.
/// If the coordinates are not the rounded, they will be interpolated.
/// </summary>
/// <param name="source">Image.</param>
/// <param name="area">Requested area.</param>
/// <returns>Interpolated image area.</returns>
public static Gray <float>[,] GetRectSubPix(this Gray <float>[,] source, RectangleF area)
{
var destination = new Gray <float> [(int)area.Height, (int)area.Width];
using (var srcImg = source.Lock())
using (var dstImg = destination.Lock())
{
getRectSubPix_Float(srcImg, area.Location, dstImg);
}
return(destination);
}
/// <summary>
/// Gray-Level Difference Method (GLDM).
/// <para>Computes an gray-level histogram of difference values between adjacent pixels in an image.</para>
/// <para>Accord.NET internal call. Please see: <see cref="Accord.Imaging.GrayLevelDifferenceMethod">Gray-Level Difference Method</see> for details.</para>
/// </summary>
/// <param name="image">The source image.</param>
/// <param name="autoGray">Whether the maximum value of gray should be automatically computed from the image. </param>
/// <param name="degree">The direction at which the co-occurrence should be found.</param>
/// <returns>An histogram containing co-occurrences for every gray level in <paramref name="image"/>.</returns>
public static int[] GrayLevelDifferenceMethod(this Gray <byte>[,] image, CooccurrenceDegree degree, bool autoGray = true)
{
GrayLevelDifferenceMethod gldm = new GrayLevelDifferenceMethod(degree, autoGray);
int[] hist;
using (var uImg = image.Lock())
{
hist = gldm.Compute(uImg.AsAForgeImage());
}
return(hist);
}
/// <summary>
/// Process image looking for interest points.
/// </summary>
/// <typeparam name="TPoint">The type of returned feature points.</typeparam>
/// <typeparam name="TFeature">The type of extracted features.</typeparam>
/// <param name="featureDetector">Feature detector.</param>
/// <param name="image">Source image data to process.</param>
/// <returns>Returns list of found interest points.</returns>
public static List <TPoint> ProcessImage <TPoint, TFeature>(this IFeatureDetector <TPoint, TFeature> featureDetector, Gray <byte>[,] image)
where TPoint : IFeatureDescriptor <TFeature>
{
List <TPoint> points;
using (var uImg = image.Lock())
{
points = featureDetector.ProcessImage(uImg.AsAForgeImage());
}
return(points);
}
/// <summary>
/// Features from Accelerated Segment Test (FAST) corners detector.
/// <para>Accord.NET internal call. Please see: <see cref="Accord.Imaging.FastCornersDetector"/> for details.</para>
/// </summary>
/// <param name="im">Image.</param>
/// <param name="threshold">The suppression threshold. Decreasing this value increases the number of points detected by the algorithm.</param>
/// <returns>Interest point locations.</returns>
public static List <IntPoint> CornerFeaturesDetector(this Gray <byte>[,] im, int threshold = 20)
{
FastCornersDetector fast = new FastCornersDetector(threshold);
List <IntPoint> points;
using (var uImg = im.Lock())
{
points = fast.ProcessImage(uImg.AsAForgeImage());
}
return(points);
}
/// <summary>
/// Harris Corners Detector.
/// <para>Accord.NET internal call. Please see: <see cref="Accord.Imaging.HarrisCornersDetector"/> for details.</para>
/// </summary>
/// <param name="im">Image.</param>
/// <param name="measure">Corners measures.</param>
/// <param name="threshold">Harris threshold.</param>
/// <param name="sigma">Gaussian smoothing sigma.</param>
/// <param name="suppression">Non-maximum suppression window radius.</param>
/// <returns>Interest point locations.</returns>
public static List <IntPoint> HarrisCorners <TDepth>(this Gray <byte>[,] im, HarrisCornerMeasure measure = HarrisCornerMeasure.Harris, float threshold = 20000f, double sigma = 1.2, int suppression = 3)
{
HarrisCornersDetector harris = new HarrisCornersDetector(measure, threshold, sigma, suppression);
List <IntPoint> points;
using (var uImg = im.Lock())
{
points = harris.ProcessImage(uImg.AsAForgeImage());
}
return(points);
}
/// <summary>
/// Maximum cross-correlation feature point matching algorithm.
/// </summary>
/// <param name="image1">First image.</param>
/// <param name="image2">Second image.</param>
/// <param name="points1">Points from the first image.</param>
/// <param name="points2">Points from the second image.</param>
/// <param name="windowSize">The size of the correlation window.</param>
/// <param name="maxDistance">The maximum distance to consider points as correlated.</param>
/// <returns>Matched point-pairs.</returns>
public static Point[][] Match(Gray <byte>[,] image1, Gray <byte>[,] image2, Point[] points1, Point[] points2, int windowSize, int maxDistance)
{
Point[][] matches = null;
using (var uImg1 = image1.Lock())
using (var uImg2 = image2.Lock())
{
var correlationMatching = new CorrelationMatching(windowSize, maxDistance, uImg1.AsBitmap(), uImg2.AsBitmap());
matches = correlationMatching.Match(points1.ToPoints(), points2.ToPoints()).ToPoints();
}
return(matches);
}
/// <summary>
/// Maximum cross-correlation feature point matching algorithm.
/// </summary>
/// <param name="image1">First image.</param>
/// <param name="image2">Second image.</param>
/// <param name="points1">Points from the first image.</param>
/// <param name="points2">Points from the second image.</param>
/// <param name="windowSize">The size of the correlation window.</param>
/// <param name="maxDistance">The maximum distance to consider points as correlated.</param>
/// <returns>Matched point-pairs.</returns>
public static Point[][] Match(Gray<byte>[,] image1, Gray<byte>[,] image2, Point[] points1, Point[] points2, int windowSize, int maxDistance)
{
Point[][] matches = null;
using (var uImg1 = image1.Lock())
using(var uImg2 = image2.Lock())
{
var correlationMatching = new CorrelationMatching(windowSize, maxDistance, uImg1.AsBitmap(), uImg2.AsBitmap());
matches = correlationMatching.Match(points1.ToPoints(), points2.ToPoints()).ToPoints();
}
return matches;
}
/// <summary>
/// Extracts the contour from a single object in a grayscale image. (uses Accord built-in function)
/// </summary>
/// <param name="im">Image.</param>
/// <param name="minGradientStrength">The pixel value threshold above which a pixel
/// is considered black (belonging to the object). Default is zero.</param>
public static List <Point> FindContour(this Gray <byte>[,] im, byte minGradientStrength = 0)
{
BorderFollowing bf = new BorderFollowing(minGradientStrength);
List <Point> points;
using (var uImg = im.Lock())
{
points = bf.FindContour(uImg.AsAForgeImage());
}
return(points);
}
/// <summary>
/// Find non-zero locations in the image.
/// </summary>
/// <param name="img">Image.</param>
/// <param name="values">Found non-zero values at the returned positions.</param>
/// <returns>List of found non-zero locations.</returns>
public static List <Point> FindNonZero(this Gray <float>[,] img, out IList <float> values)
{
List <Point> locationsPatch;
IList valuesPatch;
using (var uImg = img.Lock())
{
findNonZero_Float(uImg, out locationsPatch, out valuesPatch);
}
values = valuesPatch as IList <float>;
return(locationsPatch);
}
/// <summary>
/// The blending filter is able to blend two images using a homography matrix.
/// A linear alpha gradient is used to smooth out differences between the two
/// images, effectively blending them in two images. The gradient is computed
/// considering the distance between the centers of the two images.
/// </summary>
/// <param name="im">Image.</param>
/// <param name="overlayIm">The overlay image (also called the anchor).</param>
/// <param name="homography">Homography matrix used to map a image passed to
/// the filter to the overlay image specified at filter creation.</param>
/// <param name="fillColor">The filling color used to fill blank spaces. The filling color will only be visible after the image is converted
/// to 24bpp. The alpha channel will be used internally by the filter.</param>
/// <param name="gradient">A value indicating whether to blend using a linear
/// gradient or just superimpose the two images with equal weights.</param>
/// <param name="alphaOnly">A value indicating whether only the alpha channel
/// should be blended. This can be used together with a transparency
/// mask to selectively blend only portions of the image.</param>
/// <returns>Blended image.</returns>
public static Bgra <byte>[,] Blend(this Gray <byte>[,] im, Gray <byte>[,] overlayIm, MatrixH homography, Bgra <byte> fillColor, bool gradient = true, bool alphaOnly = false)
{
Bgra <byte>[,] resultImage = null;
using (var uOverlayIm = overlayIm.Lock())
{
Blend blend = new Blend(homography, uOverlayIm.AsBitmap());
blend.AlphaOnly = alphaOnly;
blend.Gradient = gradient;
blend.FillColor = fillColor.ToColor();
resultImage = im.ApplyBaseTransformationFilter <Gray <byte>, Bgra <byte> >(blend);
}
return(resultImage);
}
/// <summary>
/// The blending filter is able to blend two images using a homography matrix.
/// A linear alpha gradient is used to smooth out differences between the two
/// images, effectively blending them in two images. The gradient is computed
/// considering the distance between the centers of the two images.
/// </summary>
/// <param name="im">Image.</param>
/// <param name="overlayIm">The overlay image (also called the anchor).</param>
/// <param name="homography">Homography matrix used to map a image passed to
/// the filter to the overlay image specified at filter creation.</param>
/// <param name="fillColor">The filling color used to fill blank spaces. The filling color will only be visible after the image is converted
/// to 24bpp. The alpha channel will be used internally by the filter.</param>
/// <param name="gradient">A value indicating whether to blend using a linear
/// gradient or just superimpose the two images with equal weights.</param>
/// <param name="alphaOnly">A value indicating whether only the alpha channel
/// should be blended. This can be used together with a transparency
/// mask to selectively blend only portions of the image.</param>
/// <returns>Blended image.</returns>
public static Bgra<byte>[,] Blend(this Gray<byte>[,] im, Gray<byte>[,] overlayIm, MatrixH homography, Bgra<byte> fillColor, bool gradient = true, bool alphaOnly = false)
{
Bgra<byte>[,] resultImage = null;
using (var uOverlayIm = overlayIm.Lock())
{
Blend blend = new Blend(homography, uOverlayIm.AsBitmap());
blend.AlphaOnly = alphaOnly;
blend.Gradient = gradient;
blend.FillColor = fillColor.ToColor();
resultImage = im.ApplyBaseTransformationFilter<Gray<byte>, Bgra<byte>>(blend);
}
return resultImage;
}
/// <summary>
/// Extracts a single image channel.
/// </summary>
/// <typeparam name="TSrcColor">Source color type.</typeparam>
/// <typeparam name="TDepth">Channel depth type.</typeparam>
/// <param name="image">Image.</param>
/// <param name="area">Working area.</param>
/// <param name="channelIndex">Channel index.</param>
/// <returns>Extracted channel.</returns>
public static unsafe Gray <TDepth>[,] GetChannel <TSrcColor, TDepth>(this TSrcColor[,] image, Rectangle area, int channelIndex)
where TSrcColor : struct, IColor <TDepth>
where TDepth : struct
{
int width = area.Width;
int height = area.Height;
var dest = new Gray <TDepth> [area.Height, area.Width];
using (var lockedImage = image.Lock())
using (var dstImg = dest.Lock())
{
var srcImg = lockedImage.GetSubRect(area);
int channelSize = srcImg.ColorInfo.ChannelSize;
int colorSize = srcImg.ColorInfo.Size;
byte *srcPtr = (byte *)srcImg.ImageData + channelIndex * srcImg.ColorInfo.ChannelSize;
byte *dstPtr = (byte *)dstImg.ImageData;
for (int row = 0; row < height; row++)
{
byte *srcColPtr = srcPtr;
byte *dstColPtr = dstPtr;
for (int col = 0; col < width; col++)
{
/********** copy channel byte-per-byte ************/
for (int partIdx = 0; partIdx < channelSize; partIdx++)
{
dstColPtr[partIdx] = srcColPtr[partIdx];
}
srcColPtr += colorSize; //move to the next column
dstColPtr += channelSize;
/********** copy channel byte-per-byte ************/
}
srcPtr += srcImg.Stride;
dstPtr += dstImg.Stride;
}
}
return(dest);
}
private unsafe void calculateLinearMapForNeighbour(Gray<byte>[,] responseMap, int neigbourRow, int neighbourCol,
Gray<byte>[,] linearMap)
{
using (var uResponseMap = responseMap.Lock())
using (var uLinearMap = linearMap.Lock())
{
int neigborhood = this.NeigborhoodSize;
byte* linMapPtr = (byte*)uLinearMap.ImageData;
int linMapStride = uLinearMap.Stride;
int width = uResponseMap.Width;
int height = uResponseMap.Height;
int stride = uResponseMap.Stride;
byte* responseMapPtr = (byte*)uResponseMap.GetData(neigbourRow);
//Two loops copy every T-th pixel into the linear memory
for (int r = neigbourRow; r < height; r += neigborhood)
{
int linMapIdx = 0;
for (int c = neighbourCol; c < width; c += neigborhood)
{
linMapPtr[linMapIdx] = responseMapPtr[c];
linMapIdx++;
}
responseMapPtr += stride * neigborhood; //skip neighborhood rows
linMapPtr += linMapStride;
}
}
}
/// <summary>
/// Take only those orientations that have MINIMAL_NUM_OF_SAME_ORIENTED_PIXELS in 3x3 negborhood.
/// Performs angle transformation into binary form ([0..7] -> [1, 2, 4, 8, ..., 128]) as well.
/// </summary>
/// <param name="qunatizedOrientionImg">Quantized orientation image where angles are represented by lables [0..GlobalParameters.NUM_OF_QUNATIZED_ORIENTATIONS] (invalid orientation label included).</param>
/// <param name="minSameOrientations">Minimal number of same orientations for 3x3 neigborhood. The range is: [0..9] (3x3 neigborhood).</param>
private static Gray<byte>[,] RetainImportantQuantizedOrientations(Gray<byte>[,] qunatizedOrientionImg, int minSameOrientations)
{
if (minSameOrientations < 0 || minSameOrientations > 9 /*3x3 neigborhood*/)
throw new Exception("Minimal number of same orientations should be in: [0..9].");
var quantizedFilteredOrient = qunatizedOrientionImg.CopyBlank();
using (var uQunatizedOrientionImg = qunatizedOrientionImg.Lock())
using (var uQuantizedFilteredOrient = quantizedFilteredOrient.Lock())
{
//debugImg = new Image<Hsv, byte>(orientDegImg.Width, orientDegImg.Height);
//debugImg = null;
int qOrinetStride = uQunatizedOrientionImg.Stride;
int qOrinetAllign = uQunatizedOrientionImg.Stride - uQunatizedOrientionImg.Width;
byte* qOrinetUnfilteredPtr = (byte*)uQunatizedOrientionImg.ImageData + qOrinetStride + 1;
byte* qOrinetFilteredPtr = (byte*)uQuantizedFilteredOrient.ImageData + qOrinetStride + 1;
//Debug.Assert(qunatizedOrientionImg.Stride == quantizedFilteredOrient.Stride);
int imgWidth = uQunatizedOrientionImg.Width;
int imgHeight = uQunatizedOrientionImg.Height;
for (int j = 1; j < imgHeight - 1; j++)
{
for (int i = 1; i < imgWidth - 1; i++)
{
if (*qOrinetUnfilteredPtr != INVALID_QUANTIZED_ORIENTATION)
{
byte[] histogram = new byte[INVALID_QUANTIZED_ORIENTATION + 1]; //gleda se susjedstvo 3x3
histogram[qOrinetUnfilteredPtr[-qOrinetStride - 1]]++; histogram[qOrinetUnfilteredPtr[-qOrinetStride + 0]]++; histogram[qOrinetUnfilteredPtr[-qOrinetStride + 1]]++;
histogram[qOrinetUnfilteredPtr[-1]]++; histogram[qOrinetUnfilteredPtr[0]]++; histogram[qOrinetUnfilteredPtr[+1]]++;
histogram[qOrinetUnfilteredPtr[+qOrinetStride - 1]]++; histogram[qOrinetUnfilteredPtr[+qOrinetStride + 0]]++; histogram[qOrinetUnfilteredPtr[+qOrinetStride + 1]]++;
int maxBinVotes = 0; byte quantizedAngle = 0;
for (byte histBinIdx = 0; histBinIdx < GlobalParameters.NUM_OF_QUNATIZED_ORIENTATIONS /*discard invalid orientation*/; histBinIdx++)
{
if (histogram[histBinIdx] > maxBinVotes)
{
maxBinVotes = histogram[histBinIdx];
quantizedAngle = histBinIdx;
}
}
if (maxBinVotes >= minSameOrientations)
*qOrinetFilteredPtr = (byte)(1 << quantizedAngle); //[1,2,4,8...128] (8 orientations)
//*qOrinetFilteredPtr = (byte)(1 << *qOrinetUnfilteredPtr); //[1,2,4,8...128] (8 orientations)
//debugImg[j, i] = new Hsv((*qOrinetFilteredPtr-1) * 35, 100, 100);
}
qOrinetUnfilteredPtr++;
qOrinetFilteredPtr++;
}
qOrinetUnfilteredPtr += 1 + qOrinetAllign + 1;
qOrinetFilteredPtr += 1 + qOrinetAllign + 1; //preskoči zadnji piksel, poravnanje, i početni piksel
}
}
//magnitudeImg.Save("magnitude.bmp");
//quantizedFilteredOrient.Save("quantizedImg.bmp");
return quantizedFilteredOrient;
}
private static Gray<short>[,] calculateSimilarityMap(ITemplate template, LinearizedMaps maps, Rectangle searchArea)
{
Debug.Assert(searchArea.Right <= maps.ImageSize.Width &&
searchArea.Bottom <= maps.ImageSize.Height);
Debug.Assert(template.Size.Width + searchArea.X < maps.ImageSize.Width &&
template.Size.Height + searchArea.Y < maps.ImageSize.Height);
int width = searchArea.Width / maps.NeigborhoodSize;
int height = searchArea.Height / maps.NeigborhoodSize;
Gray<short>[,] similarityMap = new Gray<short>[height, width]; //performance penalty (alloc, dealloc)!!!
Gray<byte>[,] buffer = new Gray<byte>[height, width];
using (var uSimilarityMap = similarityMap.Lock())
using(var uBuffer = buffer.Lock())
{
int nAddsInBuffer = 0;
foreach (var feature in template.Features)
{
var position = new Point(feature.X + searchArea.X, feature.Y + searchArea.Y); //shifted position
Point mapPoint;
var neighbourMap = maps.GetMapElement(position, feature.AngleIndex, out mapPoint);
neighbourMap.AddTo(uBuffer, mapPoint);
nAddsInBuffer++;
if (nAddsInBuffer / GlobalParameters.MAX_SUPPORTED_NUM_OF_FEATURES_ADDDED_AS_BYTE != 0)
{
uBuffer.AddTo(uSimilarityMap);
buffer.Clear(); //clear buffer
nAddsInBuffer = 0;
}
}
bool finalAdd = (template.Features.Length % GlobalParameters.MAX_SUPPORTED_NUM_OF_FEATURES_ADDDED_AS_BYTE != 0) ? true : false;
if (finalAdd)
{
uBuffer.AddTo(uSimilarityMap);
}
}
return similarityMap;
}
private static List<Feature> ExtractTemplate(Gray<byte>[,] orientationImage, int maxNumOfFeatures, Func<Feature, int> featureImportanceFunc)
{
List<Feature> candidates = new List<Feature>();
using (var uOrientationImage = orientationImage.Lock())
{
byte* orientImgPtr = (byte*)uOrientationImage.ImageData;
int orientImgStride = uOrientationImage.Stride;
int imgWidth = uOrientationImage.Width;
int imgHeight = uOrientationImage.Height;
for (int row = 0; row < imgHeight; row++)
{
for (int col = 0; col < imgWidth; col++)
{
if (orientImgPtr[col] == 0) //quantized orientations are: [1,2,4,8,...,128];
continue;
var candidate = new Feature(x: col, y: row, angleBinaryRepresentation: orientImgPtr[col]);
candidates.Add(candidate);
}
orientImgPtr += orientImgStride;
}
}
candidates = candidates.OrderByDescending(featureImportanceFunc).ToList(); //order descending
return FilterScatteredFeatures(candidates, maxNumOfFeatures, 5); //candidates.Count must be >= MIN_NUM_OF_FEATURES
}
private Image<Gray<byte>>[,] linearizeResponseMap(Gray<byte>[,] responseMap)
{
var linearizedMaps = new Image<Gray<byte>>[NeigborhoodSize, NeigborhoodSize];
//Outer two for loops iterate over top-left T^2 starting pixels
for (int rowNeigbor = 0; rowNeigbor < this.NeigborhoodSize; rowNeigbor++)
{
for (int colNeigbor = 0; colNeigbor < this.NeigborhoodSize; colNeigbor++)
{
var linearMap = new Gray<byte>[this.LinearMapSize.Height, this.LinearMapSize.Width];
calculateLinearMapForNeighbour(responseMap, rowNeigbor, colNeigbor, linearMap);
linearizedMaps[rowNeigbor, colNeigbor] = linearMap.Lock();
}
}
return linearizedMaps;
}
private static Gray<byte>[,] SpreadOrientations(Gray<byte>[,] quantizedOrientationImage, int neghborhood)
{
var destImg = quantizedOrientationImage.CopyBlank();
using (var uQuantizedOrientationImage = quantizedOrientationImage.Lock())
using(var uDestImg = destImg.Lock())
{
byte* srcImgPtr = (byte*)uQuantizedOrientationImage.ImageData;
int imgStride = uQuantizedOrientationImage.Stride;
byte* destImgPtr = (byte*)uDestImg.ImageData;
int imgHeight = uDestImg.Height;
int imgWidth = uDestImg.Width;
for (int row = 0; row < neghborhood; row++)
{
int subImageHeight = imgHeight - row;
for (int col = 0; col < neghborhood; col++)
{
OrImageBits(&srcImgPtr[col], destImgPtr,
imgStride,
imgWidth - col, subImageHeight);
}
srcImgPtr += imgStride;
}
}
return destImg;
}
private static List<Point> searchSimilarityMap(Gray<short>[,] similarityMap, int minValue, out List<short> values)
{
List<Point> positions = new List<Point>();
values = new List<short>();
using (var uSimilarityMap = similarityMap.Lock())
{
int width = uSimilarityMap.Width;
int height = uSimilarityMap.Height;
int stride = uSimilarityMap.Stride; //stride should be == width * sizeof(short) (see linearized maps)
short* similarityMapPtr = (short*)uSimilarityMap.ImageData;
for (int row = 0; row < height; row++)
{
for (int col = 0; col < width; col++)
{
if (similarityMapPtr[col] >= minValue)
{
positions.Add(new Point(col, row));
values.Add(similarityMapPtr[col]);
}
}
similarityMapPtr = (short*)((byte*)similarityMapPtr + stride);
}
}
return positions;
}
private static Gray<byte>[,] QuantizeOrientations(Gray<int>[,] orientDegImg)
{
var quantizedUnfilteredOrient = new Gray<byte>[orientDegImg.Height(), orientDegImg.Width()];
using (var uOrientDegImg = orientDegImg.Lock())
using (var uQuantizedUnfilteredOrient = quantizedUnfilteredOrient.Lock())
{
int* orientDegImgPtr = (int*)uOrientDegImg.ImageData;
byte* qOrinetUnfilteredPtr = (byte*)uQuantizedUnfilteredOrient.ImageData;
int qOrinetUnfilteredStride = uQuantizedUnfilteredOrient.Stride;
int imgWidth = uOrientDegImg.Width;
int imgHeight = uOrientDegImg.Height;
for (int j = 0; j < imgHeight; j++)
{
for (int i = 0; i < imgWidth; i++)
{
int angle = orientDegImgPtr[i];
qOrinetUnfilteredPtr[i] = AngleQuantizationTable[angle]; //[0-360] -> [...] -> [0-7] (for mapping see "CalculateAngleQuantizationTable()")
}
orientDegImgPtr += imgWidth; //<Gray<int>> is always alligned
qOrinetUnfilteredPtr += qOrinetUnfilteredStride;
}
}
//quantizedUnfilteredOrient.Mul(36).Save("quantizedUnfilteredImg.bmp");
return quantizedUnfilteredOrient;
}
/// <summary>
/// Computes gradient orientations from the color image. Orientation from the channel which has the maximum gradient magnitude is taken as the orientation for a location.
/// </summary>
/// <param name="frame">Image.</param>
/// <param name="magnitudeSqrImage">Squared magnitude image.</param>
/// <param name="minValidMagnitude">Minimal valid magnitude.</param>
/// <returns>Orientation image (angles are in degrees).</returns>
public static unsafe Gray<int>[,] Compute(Gray<byte>[,] frame, out Gray<int>[,] magnitudeSqrImage, int minValidMagnitude)
{
var minSqrMagnitude = minValidMagnitude * minValidMagnitude;
var orientationImage = new Gray<int>[frame.Height(), frame.Width()];
var _magnitudeSqrImage = orientationImage.CopyBlank();
using (var uFrame = frame.Lock())
{
ParallelLauncher.Launch(thread =>
{
computeGray(thread, (byte*)uFrame.ImageData, uFrame.Stride, orientationImage, _magnitudeSqrImage, minSqrMagnitude);
},
frame.Width() - 2 * kernelRadius, frame.Height() - 2 * kernelRadius);
}
magnitudeSqrImage = _magnitudeSqrImage;
return orientationImage;
}
private Gray<byte>[,] computeResponseMap(Gray<byte>[,] sprededQuantizedImage, int orientationIndex)
{
int width = this.ImageValidSize.Width;
int height = this.ImageValidSize.Height;
var responseMap = new Gray<byte>[height, width];
using (var uSprededQuantizedImage = sprededQuantizedImage.Lock())
{
int srcStride = uSprededQuantizedImage.Stride;
byte* srcPtr = (byte*)uSprededQuantizedImage.ImageData;
using (var uResponseMap = responseMap.Lock())
{
int dstStride = uResponseMap.Stride;
byte* dstPtr = (byte*)uResponseMap.ImageData;
//za sliku
fixed (byte* angleTablePtr = &SimilarityAngleTable[0, 0])
{
byte* orientPtr = angleTablePtr + orientationIndex * SimilarityAngleTable.GetLength(1);
for (int row = 0; row < height; row++)
{
for (int col = 0; col < width; col++)
{
//destPtr[col] = SimilarityAngleTable[orient, srcPtr[col]];
dstPtr[col] = orientPtr[srcPtr[col]]; //faster way
}
srcPtr += srcStride;
dstPtr += dstStride;
}
}
}
}
return responseMap;
}