/// <summary>
///
/// </summary>
/// <param name="featuresFinder"></param>
/// <param name="images"></param>
/// <param name="features"></param>
/// <param name="masks"></param>
public static void ComputeImageFeatures(
Feature2D featuresFinder,
IEnumerable <Mat> images,
out ImageFeatures[] features,
IEnumerable <Mat>?masks = null)
{
if (featuresFinder == null)
{
throw new ArgumentNullException(nameof(featuresFinder));
}
if (images == null)
{
throw new ArgumentNullException(nameof(images));
}
featuresFinder.ThrowIfDisposed();
var imagesArray = images as Mat[] ?? images.ToArray();
if (imagesArray.Length == 0)
{
throw new ArgumentException("Empty array", nameof(images));
}
var descriptorsMat = new Mat[imagesArray.Length];
var keypointsVec = new VectorOfKeyPoint[imagesArray.Length];
var wImageFeatures = new WImageFeatures[imagesArray.Length];
for (int i = 0; i < imagesArray.Length; i++)
{
descriptorsMat[i] = new Mat();
keypointsVec[i] = new VectorOfKeyPoint();
wImageFeatures[i] = new WImageFeatures
{
Keypoints = keypointsVec[i].CvPtr,
Descriptors = descriptorsMat[i].CvPtr
};
}
var imagesPointers = imagesArray.Select(i => i.CvPtr).ToArray();
var masksPointers = masks?.Select(i => i.CvPtr).ToArray();
if (masksPointers != null && imagesPointers.Length != masksPointers.Length)
{
throw new ArgumentException("size of images != size of masks");
}
var wImageFeaturesPointers = new GCHandle[wImageFeatures.Length];
try
{
for (int i = 0; i < wImageFeatures.Length; i++)
{
wImageFeaturesPointers[i] = GCHandle.Alloc(wImageFeatures[i], GCHandleType.Pinned);
}
if (masksPointers == null)
{
NativeMethods.HandleException(
NativeMethods.stitching_computeImageFeatures1_2(
featuresFinder.CvPtr,
imagesPointers,
imagesPointers.Length,
wImageFeaturesPointers.Select(gch => gch.AddrOfPinnedObject()).ToArray(),
IntPtr.Zero));
}
else
{
NativeMethods.HandleException(
NativeMethods.stitching_computeImageFeatures1_1(
featuresFinder.CvPtr,
imagesPointers,
imagesPointers.Length,
wImageFeaturesPointers.Select(gch => gch.AddrOfPinnedObject()).ToArray(),
masksPointers));
}
}
finally
{
for (int i = 0; i < wImageFeaturesPointers.Length; i++)
{
wImageFeaturesPointers[i].Free();
}
}
features = new ImageFeatures[wImageFeatures.Length];
for (int i = 0; i < wImageFeaturesPointers.Length; i++)
{
features[i] = new ImageFeatures(
wImageFeatures[i].ImgIdx,
wImageFeatures[i].ImgSize,
keypointsVec[i].ToArray(),
descriptorsMat[i]);
}
GC.KeepAlive(featuresFinder);
GC.KeepAlive(images);
GC.KeepAlive(masks);
GC.KeepAlive(descriptorsMat);
GC.KeepAlive(imagesPointers);
}
