public void Run()
{
using (var img1 = new Mat(FilePath.Image.SurfBox))
using (var img2 = new Mat(FilePath.Image.SurfBoxinscene))
using (var descriptors1 = new Mat())
using (var descriptors2 = new Mat())
using (var matcher = new BFMatcher(NormTypes.L2SQR))
using (var kaze = KAZE.Create())
{
KeyPoint[] keypoints1, keypoints2;
kaze.DetectAndCompute(img1, null, out keypoints1, descriptors1);
kaze.DetectAndCompute(img2, null, out keypoints2, descriptors2);
DMatch[][] matches = matcher.KnnMatch(descriptors1, descriptors2, 2);
using (Mat mask = new Mat(matches.Length, 1, MatType.CV_8U))
{
mask.SetTo(new Scalar(255));
int nonZero = Cv2.CountNonZero(mask);
VoteForUniqueness(matches, mask);
nonZero = Cv2.CountNonZero(mask);
nonZero = VoteForSizeAndOrientation(keypoints2, keypoints1, matches, mask, 1.5f, 20);
List<Point2f> obj = new List<Point2f>();
List<Point2f> scene = new List<Point2f>();
List<DMatch> goodMatchesList = new List<DMatch>();
//iterate through the mask only pulling out nonzero items because they're matches
for (int i = 0; i < mask.Rows; i++)
{
MatIndexer<byte> maskIndexer = mask.GetGenericIndexer<byte>();
if (maskIndexer[i] > 0)
{
obj.Add(keypoints1[matches[i][0].QueryIdx].Pt);
scene.Add(keypoints2[matches[i][0].TrainIdx].Pt);
goodMatchesList.Add(matches[i][0]);
}
}
List<Point2d> objPts = obj.ConvertAll(Point2fToPoint2d);
List<Point2d> scenePts = scene.ConvertAll(Point2fToPoint2d);
if (nonZero >= 4)
{
Mat homography = Cv2.FindHomography(objPts, scenePts, HomographyMethods.Ransac, 1.5, mask);
nonZero = Cv2.CountNonZero(mask);
if (homography != null)
{
Point2f[] objCorners = { new Point2f(0, 0),
new Point2f(img1.Cols, 0),
new Point2f(img1.Cols, img1.Rows),
new Point2f(0, img1.Rows) };
Point2d[] sceneCorners = MyPerspectiveTransform3(objCorners, homography);
//This is a good concat horizontal
using (Mat img3 = new Mat(Math.Max(img1.Height, img2.Height), img2.Width + img1.Width, MatType.CV_8UC3))
using (Mat left = new Mat(img3, new Rect(0, 0, img1.Width, img1.Height)))
using (Mat right = new Mat(img3, new Rect(img1.Width, 0, img2.Width, img2.Height)))
{
img1.CopyTo(left);
img2.CopyTo(right);
byte[] maskBytes = new byte[mask.Rows * mask.Cols];
mask.GetArray(0, 0, maskBytes);
Cv2.DrawMatches(img1, keypoints1, img2, keypoints2, goodMatchesList, img3, Scalar.All(-1), Scalar.All(-1), maskBytes, DrawMatchesFlags.NotDrawSinglePoints);
List<List<Point>> listOfListOfPoint2D = new List<List<Point>>();
List<Point> listOfPoint2D = new List<Point>();
listOfPoint2D.Add(new Point(sceneCorners[0].X + img1.Cols, sceneCorners[0].Y));
listOfPoint2D.Add(new Point(sceneCorners[1].X + img1.Cols, sceneCorners[1].Y));
listOfPoint2D.Add(new Point(sceneCorners[2].X + img1.Cols, sceneCorners[2].Y));
listOfPoint2D.Add(new Point(sceneCorners[3].X + img1.Cols, sceneCorners[3].Y));
listOfListOfPoint2D.Add(listOfPoint2D);
img3.Polylines(listOfListOfPoint2D, true, Scalar.LimeGreen, 2);
//This works too
//Cv2.Line(img3, scene_corners[0] + new Point2d(img1.Cols, 0), scene_corners[1] + new Point2d(img1.Cols, 0), Scalar.LimeGreen);
//Cv2.Line(img3, scene_corners[1] + new Point2d(img1.Cols, 0), scene_corners[2] + new Point2d(img1.Cols, 0), Scalar.LimeGreen);
//Cv2.Line(img3, scene_corners[2] + new Point2d(img1.Cols, 0), scene_corners[3] + new Point2d(img1.Cols, 0), Scalar.LimeGreen);
//Cv2.Line(img3, scene_corners[3] + new Point2d(img1.Cols, 0), scene_corners[0] + new Point2d(img1.Cols, 0), Scalar.LimeGreen);
img3.SaveImage("Kaze_Output.png");
Window.ShowImages(img3);
}
}
}
}
}
}
private void MatchBySurf(Mat src1, Mat src2)
{
var gray1 = new Mat();
var gray2 = new Mat();
Cv2.CvtColor(src1, gray1, ColorConversionCodes.BGR2GRAY);
Cv2.CvtColor(src2, gray2, ColorConversionCodes.BGR2GRAY);
var surf = SURF.Create(500, 4, 2, true);
// Detect the keypoints and generate their descriptors using SURF
KeyPoint[] keypoints1, keypoints2;
var descriptors1 = new MatOfFloat();
var descriptors2 = new MatOfFloat();
surf.Compute(gray1, null, out keypoints1, descriptors1);
surf.Compute(gray2, null, out keypoints2, descriptors2);
// Match descriptor vectors
var bfMatcher = new BFMatcher(NormTypes.L2, false);
var flannMatcher = new FlannBasedMatcher();
DMatch[] bfMatches = bfMatcher.Match(descriptors1, descriptors2);
DMatch[] flannMatches = flannMatcher.Match(descriptors1, descriptors2);
// Draw matches
var bfView = new Mat();
Cv2.DrawMatches(gray1, keypoints1, gray2, keypoints2, bfMatches, bfView);
var flannView = new Mat();
Cv2.DrawMatches(gray1, keypoints1, gray2, keypoints2, flannMatches, flannView);
using (new Window("SURF matching (by BFMather)", WindowMode.AutoSize, bfView))
using (new Window("SURF matching (by FlannBasedMatcher)", WindowMode.AutoSize, flannView))
{
Cv2.WaitKey();
}
}
private void FindMatchingFeatures_Click(object sender, EventArgs e)
{
var file1 = comboBox1.SelectedItem.ToString();
var file2 = comboBox2.SelectedItem.ToString();
using (var img1 = new Mat(file1, ImreadModes.GrayScale))
using (var img2 = new Mat(file2, ImreadModes.GrayScale))
using (var dst = new Mat())
{
// find keypoints
//var kp1 = FindFeatures(Constants.ImageControl1);
//var kp2 = FindFeatures(Constants.ImageControl2);
// find descriptors
var descriptors1 = new Mat();
var descriptors2 = new Mat();
var kp1 = FindFeaturesDescriptors_ORB(file1, out descriptors1);
var kp2 = FindFeaturesDescriptors_ORB(file2, out descriptors2);
// find keypoint matches
var bfMatcher = new BFMatcher(NormTypes.Hamming2, true);
DMatch[] bfMatches = bfMatcher.Match(descriptors1, descriptors2);
// draw things
Cv2.DrawMatches(img1, kp1, img2, kp2, bfMatches, dst);
using (new Window("ORB matching (by BFMatcher)", WindowMode.FreeRatio, dst))
{
Cv2.WaitKey();
}
}
}
