public Image <Bgr, Byte> Draw(KeyFrame keyFrame, Image <Bgr, Byte> observedImage, List <KeyFrame> keyframes = null)
{
//FindMatch(modelImage, observedImage, keyframes);
if (matches.Size == mask.Rows)
{
Features2DToolbox.DrawMatches(keyFrame.Frame, keyFrame.KeyPoints, observedImage, observedKeyPoints, matches, result, new MCvScalar(255, 255, 255), new MCvScalar(255, 255, 255), mask, Features2DToolbox.KeypointDrawType.NotDrawSinglePoints);
}
else
{
Features2DToolbox.DrawMatches(keyFrame.Frame, keyFrame.KeyPoints, observedImage, observedKeyPoints, matches, result, new MCvScalar(255, 255, 255), new MCvScalar(255, 255, 255), null, Features2DToolbox.KeypointDrawType.NotDrawSinglePoints);
}
#region draw the projected region on the image
if (homography != null)
{
//draw a rectangle along the projected model
Rectangle rect = new Rectangle(Point.Empty, keyFrame.Frame.Size);
PointF[] pts = new PointF[]
{
new PointF(rect.Left, rect.Bottom),
new PointF(rect.Right, rect.Bottom),
new PointF(rect.Right, rect.Top),
new PointF(rect.Left, rect.Top)
};
//pts = CvInvoke.PerspectiveTransform(pts, homography);
Point[] points = Array.ConvertAll <PointF, Point>(pts, Point.Round);
using (VectorOfPoint vp = new VectorOfPoint(points))
{
CvInvoke.Polylines(result, vp, true, new MCvScalar(255, 0, 0, 255), 5);
}
}
#endregion
//modelImage.Dispose();
return(result.ToImage <Bgr, Byte>());
}
private static void withKeyframes(bool isFast, string videoSource = null)
{
ImageViewer viewer = new ImageViewer();
try
{
Capture capture = videoSource != null ? new Capture(videoSource) : new Capture(0);
Image <Bgr, Byte> result = null;
KeyFrame keyFrame = null;
Application.Idle += new EventHandler(delegate(object sender, EventArgs e)
{
counter++;
if (keyFrames.Count < 15)
{
IDrawer drawer;
if (isFast)
{
drawer = new FastDrawer();
}
else
{
drawer = new SURFDrawer();
}
try
{
Mat frame = capture.QueryFrame();
if (frame.Width > 720 || frame.Height > 480)
{
double width = 720.0 / frame.Width;
double height = 480.0 / frame.Height;
CvInvoke.Resize(frame, frame, new Size(), width, height, Inter.Linear);
}
Image <Bgr, Byte> framebuffer = frame.ToImage <Bgr, Byte>();
if (keyFrames.Count == 0)
{
keyFrames.Add(new KeyFrame()
{
Frame = framebuffer
});
}
for (int i = keyFrames.Count - 1; i >= 0; i--)
{
KeyFrame kf = keyFrames[i];
drawer.FindMatch(kf, framebuffer, keyFrames);
if (counter == 65)
{
//homography ile camera pozu ayarla, nesneyi koy
}
if (drawer.homography != null)
{
KeyFrame buffer_kf = keyFrames[keyFrames.Count - 1];
if (kf != buffer_kf)
{
keyFrames[i] = buffer_kf;
keyFrames[keyFrames.Count - 1] = kf;
}
keyFrame = kf;
break;
}
if (i == 0)
{
if (drawer.homography == null)
{
keyFrames.Add(new KeyFrame()
{
Frame = framebuffer, KeyPoints = drawer.observedKeyPoints, Descriptors = drawer.observedDescriptors
});
}
}
drawer.Clear();
}
result = frame.ToImage <Bgr, Byte>();
if (keyFrame != null)
{
result = drawer.Draw(keyFrame, framebuffer);
}
viewer.Width = frame.Width * 2 + 50;
viewer.Image = result;
//result.Dispose();
}
catch (Exception ex1)
{
}
finally
{
result.Dispose();
drawer.Dispose();
}
}
else
{
keyFrames.RemoveRange(0, keyFrames.Count / 2);
}
});
}
catch
{
}
viewer.ShowDialog();
}