public MainForm()
{
InitializeComponent();
// Concatenate and show entire image at start
Concatenate concatenate = new Concatenate(img1);
pictureBox.Image = concatenate.Apply(img2);
}
private void btnSurf_Click(object sender, EventArgs e)
{
// Step 1: Detect feature points using Surf Corners Detector
SpeededUpRobustFeaturesDetector surf = new SpeededUpRobustFeaturesDetector();
surfPoints1 = surf.ProcessImage(img1).ToArray();
surfPoints2 = surf.ProcessImage(img2).ToArray();
// Show the marked points in the original images
Bitmap img1mark = new FeaturesMarker(surfPoints1).Apply(img1);
Bitmap img2mark = new FeaturesMarker(surfPoints2).Apply(img2);
// Concatenate the two images together in a single image (just to show on screen)
Concatenate concatenate = new Concatenate(img1mark);
pictureBox.Image = concatenate.Apply(img2mark);
}
private void btnFreak_Click(object sender, EventArgs e)
{
// Step 1: Detect feature points using FREAK Features Detector
FastRetinaKeypointDetector freak = new FastRetinaKeypointDetector();
keyPoints1 = freak.ProcessImage(img1).ToArray();
keyPoints2 = freak.ProcessImage(img2).ToArray();
// Show the marked points in the original images
Bitmap img1mark = new PointsMarker(keyPoints1).Apply(img1);
Bitmap img2mark = new PointsMarker(keyPoints2).Apply(img2);
// Concatenate the two images together in a single image (just to show on screen)
Concatenate concatenate = new Concatenate(img1mark);
pictureBox.Image = concatenate.Apply(img2mark);
}
private void btnHarris_Click(object sender, EventArgs e)
{
// Step 1: Detect feature points using Harris Corners Detector
HarrisCornersDetector harris = new HarrisCornersDetector(
HarrisCornerMeasure.Harris, 20000f, 1.4f, 5);
harrisPoints1 = harris.ProcessImage(img1).ToArray();
harrisPoints2 = harris.ProcessImage(img2).ToArray();
// Show the marked points in the original images
Bitmap img1mark = new PointsMarker(harrisPoints1).Apply(img1);
Bitmap img2mark = new PointsMarker(harrisPoints2).Apply(img2);
// Concatenate the two images together in a single image (just to show on screen)
Concatenate concatenate = new Concatenate(img1mark);
pictureBox.Image = concatenate.Apply(img2mark);
}
private void BtnCorrelation_OnClick(object sender, RoutedEventArgs e)
{
// Step 2: Match feature points using a correlation measure
CorrelationMatching matcher = new CorrelationMatching(9);
IntPoint[][] matches = matcher.Match(img1, img2, harrisPoints1, harrisPoints2);
// 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.Source = pairs.Apply(img3);
}
public void ConcatenateConstructorTest()
{
Bitmap img1 = Properties.Resources.image1;
Bitmap img2 = Properties.Resources.image2;
Concatenate target = new Concatenate(img1);
var img3 = target.Apply(img2);
Assert.AreEqual(System.Math.Max(img1.Height, img2.Height), img3.Height);
Assert.AreEqual(img1.Width + img2.Width, img3.Width);
for (int i = 0; i < 16; i++)
for (int j = 0; j < 16; j++)
Assert.AreEqual(img1.GetPixel(i, j), img3.GetPixel(i, j));
for (int i = 0; i < 16; i++)
for (int j = 0; j < 16; j++)
Assert.AreEqual(img2.GetPixel(i, j), img3.GetPixel(i + 16, j));
}
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 btnRansac_Click(object sender, EventArgs e)
{
if (correlationPoints1 == null)
{
MessageBox.Show("Please, click Nearest Neighbor button first! :-)");
return;
}
if (correlationPoints1.Length < 4 || correlationPoints2.Length < 4)
{
MessageBox.Show("Insufficient points to attempt a fit.");
return;
}
// Step 3: Create the homography matrix using a robust estimator
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);
// 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(
inliers1, // Add image1's width to the X points to show the markings correctly
inliers2.Apply(p => new IntPoint(p.X + img1.Width, p.Y)));
pictureBox.Image = pairs.Apply(img3);
}
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;
}
private void BtnRansac_OnClick(object sender, RoutedEventArgs e)
{
// Step 3: Create the homography matrix using a robust estimator
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);
// 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(
inliers1, // Add image1's width to the X points to show the markings correctly
inliers2.Apply(p => new IntPoint(p.X + img1.Width, p.Y)));
PictureBox.Source = pairs.Apply(img3);
}
private void MainPage_OnLoaded(object sender, RoutedEventArgs e)
{
var bmpi = new BitmapImage();
bmpi.SetSource(Application.GetResourceStream(new Uri(@"Resources/UFSCar_Lake1.png", UriKind.Relative)).Stream);
img1 = ((Bitmap)new WriteableBitmap(bmpi)).Clone(PixelFormat.Format24bppRgb);
bmpi.SetSource(Application.GetResourceStream(new Uri(@"Resources/UFSCar_Lake2.png", UriKind.Relative)).Stream);
img2 = ((Bitmap)new WriteableBitmap(bmpi)).Clone(PixelFormat.Format24bppRgb);
// Concatenate and show entire image at start
Concatenate concatenate = new Concatenate(img1);
PictureBox.Source = concatenate.Apply(img2);
}
private void button2_Click(object sender, EventArgs e)
{
// Step 3: Create the homography matrix using a robust estimator
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);
// 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(
inliers1, // Add image1's width to the X points to show the markings correctly
inliers2.Apply(p => new IntPoint(p.X + img1.Width, p.Y)));
pictureBox1.Image = pairs.Apply(img3);
numA.Value = (decimal)homography.Elements[0];
numB.Value = (decimal)homography.Elements[1];
numC.Value = (decimal)homography.Elements[2];
numD.Value = (decimal)homography.Elements[3];
numE.Value = (decimal)homography.Elements[4];
numF.Value = (decimal)homography.Elements[5];
numG.Value = (decimal)homography.Elements[6];
numH.Value = (decimal)homography.Elements[7];
}