/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The image features founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image <Gray, Byte> image, Image <Gray, byte> mask, MKeyPoint[] keyPoints)
{
if (keyPoints.Length == 0)
{
return(new ImageFeature[0]);
}
using (VectorOfFloat descs = new VectorOfFloat())
{
GCHandle handle = GCHandle.Alloc(keyPoints, GCHandleType.Pinned);
CvSIFTDetectorComputeDescriptors(_ptr, image, mask, handle.AddrOfPinnedObject(), keyPoints.Length, descs);
handle.Free();
int n = keyPoints.Length;
long address = descs.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = DescriptorSize;
for (int i = 0; i < n; i++, address += sizeOfdescriptor * sizeof(float))
{
features[i].KeyPoint = keyPoints[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(address), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return(features);
}
}
/// <summary>
/// Match the Image feature from the observed image to the features from the model image, using brute force matcher
/// </summary>
/// <param name="observedFeatures">The Image feature from the observed image</param>
/// <param name="k">The number of neighbors to find</param>
/// <returns>The matched features</returns>
public MatchedImageFeature[] MatchFeature(ImageFeature <TDescriptor>[] observedFeatures, int k)
{
VectorOfKeyPoint obsKpts;
Matrix <TDescriptor> observedDescriptors;
ImageFeature <TDescriptor> .ConvertToRaw(observedFeatures, out obsKpts, out observedDescriptors);
try
{
DistanceType dt = typeof(TDescriptor) == typeof(Byte) ? DistanceType.Hamming : DistanceType.L2;
using (Matrix <int> indices = new Matrix <int>(observedDescriptors.Rows, k))
using (Matrix <float> dists = new Matrix <float>(observedDescriptors.Rows, k))
using (BruteForceMatcher <TDescriptor> matcher = new BruteForceMatcher <TDescriptor>(dt))
{
matcher.Add(_modelDescriptors);
matcher.KnnMatch(observedDescriptors, indices, dists, k, null);
return(ConvertToMatchedImageFeature(_modelKeyPoints, _modelDescriptors, obsKpts, observedDescriptors, indices, dists, null));
}
}
finally
{
obsKpts.Dispose();
observedDescriptors.Dispose();
}
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The image features founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image <Gray, Byte> image, Image <Gray, byte> mask, MKeyPoint[] keyPoints)
{
if (keyPoints.Length == 0)
{
return(new ImageFeature[0]);
}
using (VectorOfFloat descVec = new VectorOfFloat())
using (VectorOfKeyPoint kpts = new VectorOfKeyPoint())
{
kpts.Push(keyPoints);
CvSIFTDetectorComputeDescriptors(_ptr, image, mask, kpts, descVec);
int n = keyPoints.Length;
float[] descs = descVec.ToArray();
//long address = descVec.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = DescriptorSize;
for (int i = 0; i < n; i++)
{
features[i].KeyPoint = keyPoints[i];
float[] d = new float[sizeOfdescriptor];
Array.Copy(descs, i * sizeOfdescriptor, d, 0, sizeOfdescriptor);
features[i].Descriptor = d;
}
return(features);
}
}
/// <summary>
/// Convert the raw keypoints and descriptors to ImageFeature
/// </summary>
/// <param name="keyPointsVec">The raw keypoints vector</param>
/// <param name="descriptors">The raw descriptor matrix</param>
/// <returns>An array of image features</returns>
public static ImageFeature <TDescriptor>[] ConvertFromRaw(VectorOfKeyPoint keyPointsVec, Matrix <TDescriptor> descriptors)
{
if (keyPointsVec.Size == 0)
{
return(new ImageFeature <TDescriptor> [0]);
}
Debug.Assert(keyPointsVec.Size == descriptors.Rows, "Size of keypoints vector do not match the rows of the descriptors matrix.");
int sizeOfdescriptor = descriptors.Cols;
MKeyPoint[] keyPoints = keyPointsVec.ToArray();
ImageFeature <TDescriptor>[] features = new ImageFeature <TDescriptor> [keyPoints.Length];
MCvMat header = descriptors.MCvMat;
long address = header.data.ToInt64();
int rowSizeInByte = sizeOfdescriptor * Marshal.SizeOf(typeof(TDescriptor));
for (int i = 0; i < keyPoints.Length; i++, address += header.step)
{
features[i].KeyPoint = keyPoints[i];
TDescriptor[] desc = new TDescriptor[sizeOfdescriptor];
GCHandle handler = GCHandle.Alloc(desc, GCHandleType.Pinned);
Toolbox.memcpy(handler.AddrOfPinnedObject(), new IntPtr(address), rowSizeInByte);
handler.Free();
features[i].Descriptor = desc;
}
return(features);
}
/// <summary>
/// Detect image features from the given image
/// </summary>
/// <param name="image">The image to detect features from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <returns>The Image features detected from the given image</returns>
public ImageFeature <TDescriptor>[] DetectFeatures(Image <Gray, Byte> image, Image <Gray, byte> mask)
{
using (VectorOfKeyPoint pts = new VectorOfKeyPoint())
using (Matrix <TDescriptor> descVec = DetectAndCompute(image, mask, pts))
{
return(ImageFeature <TDescriptor> .ConvertFromRaw(pts, descVec));
}
}
/// <summary>
/// Detect image features from the given image
/// </summary>
/// <param name="image">The image to detect features from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <returns>The Image features detected from the given image</returns>
public ImageFeature <byte>[] DetectFeatures(Image <Gray, Byte> image, Image <Gray, byte> mask)
{
using (VectorOfKeyPoint pts = this.DetectKeyPointsRaw(image, mask))
using (Matrix <byte> descVec = ComputeDescriptorsRaw(image, mask, pts))
{
return(ImageFeature <byte> .ConvertFromRaw(pts, descVec));
}
}
/// <summary>
/// Create a matched feature structure.
/// </summary>
/// <param name="observedFeature">The feature from the observed image</param>
/// <param name="modelFeatures">The matched feature from the model</param>
/// <param name="dist">The distances between the feature from the observerd image and the matched feature from the model image</param>
public MatchedImageFeature(ImageFeature observedFeature, ImageFeature[] modelFeatures, double[] dist)
{
ObservedFeature = observedFeature;
_similarFeatures = new SimilarFeature[modelFeatures.Length];
for (int i = 0; i < modelFeatures.Length; i++)
{
_similarFeatures[i] = new SimilarFeature(dist[i], modelFeatures[i]);
}
}
/// <summary>
/// Use camshift to track the feature
/// </summary>
/// <param name="observedFeatures">The feature found from the observed image</param>
/// <param name="initRegion">The predicted location of the model in the observed image. If not known, use MCvBox2D.Empty as default</param>
/// <param name="priorMask">The mask that should be the same size as the observed image. Contains a priori value of the probability a match can be found. If you are not sure, pass an image fills with 1.0s</param>
/// <returns>If a match is found, the homography projection matrix is returned. Otherwise null is returned</returns>
public HomographyMatrix CamShiftTrack(ImageFeature[] observedFeatures, MCvBox2D initRegion, Image<Gray, Single> priorMask)
{
using (Image<Gray, Single> matchMask = new Image<Gray, Single>(priorMask.Size))
{
#region get the list of matched point on the observed image
Single[, ,] matchMaskData = matchMask.Data;
//Compute the matched features
MatchedImageFeature[] matchedFeature = _matcher.MatchFeature(observedFeatures, 2, 20);
matchedFeature = VoteForUniqueness(matchedFeature, 0.8);
foreach (MatchedImageFeature f in matchedFeature)
{
PointF p = f.ObservedFeature.KeyPoint.Point;
matchMaskData[(int)p.Y, (int)p.X, 0] = 1.0f / (float)f.SimilarFeatures[0].Distance;
}
#endregion
Rectangle startRegion;
if (initRegion.Equals(MCvBox2D.Empty))
startRegion = matchMask.ROI;
else
{
startRegion = PointCollection.BoundingRectangle(initRegion.GetVertices());
if (startRegion.IntersectsWith(matchMask.ROI))
startRegion.Intersect(matchMask.ROI);
}
CvInvoke.cvMul(matchMask.Ptr, priorMask.Ptr, matchMask.Ptr, 1.0);
MCvConnectedComp comp;
MCvBox2D currentRegion;
//Updates the current location
CvInvoke.cvCamShift(matchMask.Ptr, startRegion, new MCvTermCriteria(10, 1.0e-8), out comp, out currentRegion);
#region find the Image features that belongs to the current Region
MatchedImageFeature[] featuesInCurrentRegion;
using (MemStorage stor = new MemStorage())
{
Contour<System.Drawing.PointF> contour = new Contour<PointF>(stor);
contour.PushMulti(currentRegion.GetVertices(), Emgu.CV.CvEnum.BACK_OR_FRONT.BACK);
CvInvoke.cvBoundingRect(contour.Ptr, 1); //this is required before calling the InContour function
featuesInCurrentRegion = Array.FindAll(matchedFeature,
delegate(MatchedImageFeature f)
{ return contour.InContour(f.ObservedFeature.KeyPoint.Point) >= 0; });
}
#endregion
return GetHomographyMatrixFromMatchedFeatures(VoteForSizeAndOrientation(featuesInCurrentRegion, 1.5, 20));
}
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="extractor">The descriptor extractor</param>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The descriptors founded on the keypoint location</returns>
public static ImageFeature <TDepth>[] ComputeDescriptors <TDepth>(this IDescriptorExtractor <TDepth> extractor, Image <Gray, Byte> image, Image <Gray, byte> mask, MKeyPoint[] keyPoints)
where TDepth : struct
{
if (keyPoints.Length == 0)
{
return(new ImageFeature <TDepth> [0]);
}
using (VectorOfKeyPoint kpts = new VectorOfKeyPoint())
{
kpts.Push(keyPoints);
using (Matrix <TDepth> descriptor = extractor.ComputeDescriptorsRaw(image, mask, kpts))
{
return(ImageFeature <TDepth> .ConvertFromRaw(kpts, descriptor));
}
}
}
/// <summary>
/// Detect image features from the given image
/// </summary>
/// <param name="image">The image to detect features from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <returns>The Image features detected from the given image</returns>
public ImageFeature[] DetectFeatures(Image <Gray, Byte> image, Image <Gray, byte> mask)
{
using (VectorOfKeyPoint pts = new VectorOfKeyPoint())
using (VectorOfFloat descVec = new VectorOfFloat())
{
CvSIFTDetectorDetectFeature(_ptr, image, mask, pts, descVec);
MKeyPoint[] kpts = pts.ToArray();
float[] desc = descVec.ToArray();
int n = kpts.Length;
int sizeOfdescriptor = DescriptorSize;
ImageFeature[] features = new ImageFeature[n];
for (int i = 0; i < n; i++)
{
features[i].KeyPoint = kpts[i];
float[] d = new float[sizeOfdescriptor];
Array.Copy(desc, i * sizeOfdescriptor, d, 0, sizeOfdescriptor);
features[i].Descriptor = d;
}
return(features);
}
}
/// <summary>
/// Detect image features from the given image
/// </summary>
/// <param name="image">The image to detect features from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <returns>The Image features detected from the given image</returns>
public ImageFeature[] DetectFeatures(Image <Gray, Byte> image, Image <Gray, byte> mask)
{
using (VectorOfKeyPoint pts = new VectorOfKeyPoint())
using (VectorOfFloat descs = new VectorOfFloat())
{
CvSURFDetectorDetectFeature(ref this, image, mask, pts, descs);
MKeyPoint[] kpts = pts.ToArray();
int n = kpts.Length;
long add = descs.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = extended == 0 ? 64 : 128;
for (int i = 0; i < n; i++, add += sizeOfdescriptor * sizeof(float))
{
features[i].KeyPoint = kpts[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(add), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return(features);
}
}
/// <summary>
/// Detect image features from the given image
/// </summary>
/// <param name="image">The image to detect features from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <returns>The Image features detected from the given image</returns>
public ImageFeature[] DetectFeatures(Image <Gray, Byte> image, Image <Gray, byte> mask)
{
using (MemStorage stor = new MemStorage())
using (VectorOfFloat descs = new VectorOfFloat())
{
Seq <MKeyPoint> pts = new Seq <MKeyPoint>(stor);
CvSIFTDetectorDetectFeature(_ptr, image, mask, pts, descs);
MKeyPoint[] kpts = pts.ToArray();
int n = kpts.Length;
long add = descs.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = DescriptorSize;
for (int i = 0; i < n; i++, add += sizeOfdescriptor * sizeof(float))
{
features[i].KeyPoint = kpts[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(add), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return(features);
}
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The image features founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image<Gray, Byte> image, Image<Gray, byte> mask, MKeyPoint[] keyPoints)
{
using (VectorOfFloat descs = new VectorOfFloat())
using (VectorOfKeyPoint kpts = new VectorOfKeyPoint())
{
kpts.Push(keyPoints);
CvSURFDetectorComputeDescriptors(ref this, image, mask, kpts, descs);
int n = keyPoints.Length;
long address = descs.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = extended == 0 ? 64 : 128;
for (int i = 0; i < n; i++, address += sizeOfdescriptor * sizeof(float))
{
features[i].KeyPoint = keyPoints[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(address), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return features;
}
}
/// <summary>
/// Convert the raw keypoints and descriptors to ImageFeature
/// </summary>
/// <param name="keyPointsVec">The raw keypoints vector</param>
/// <param name="descriptors">The raw descriptor matrix</param>
/// <returns>An array of image features</returns>
public static ImageFeature[] ConvertToImageFeature(VectorOfKeyPoint keyPointsVec, Matrix <float> descriptors)
{
if (keyPointsVec.Size == 0)
{
return(new ImageFeature[0]);
}
Debug.Assert(keyPointsVec.Size == descriptors.Rows, "Size of keypoints vector do not match the rows of the descriptors matrix.");
int sizeOfdescriptor = descriptors.Cols;
MKeyPoint[] keyPoints = keyPointsVec.ToArray();
ImageFeature[] features = new ImageFeature[keyPoints.Length];
MCvMat header = descriptors.MCvMat;
long address = header.data.ToInt64();
for (int i = 0; i < keyPoints.Length; i++, address += header.step)
{
features[i].KeyPoint = keyPoints[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(address), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return(features);
}
/// <summary>
/// Create a Image tracker, where Image is matched with flann
/// </summary>
/// <param name="modelFeatures">The Image feature from the model image</param>
public Features2DTracker(ImageFeature <TDescriptor>[] modelFeatures)
{
ImageFeature <TDescriptor> .ConvertToRaw(modelFeatures, out _modelKeyPoints, out _modelDescriptors);
}
void TestDataProcessing(ImageFeature<float>[] TrainD)
{
for (int imgeindx = 0; imgeindx < TrainD.Count(); imgeindx++)
{
// for (int descindx = 0; descindx < TrainD[imgeindx].Count(); descindx++)
{
sample temp = new sample();
for (int i = 0; i < TrainD[imgeindx].Descriptor.Count(); i++)
{
temp.features[i] = TrainD[imgeindx].Descriptor[i];
}
Testing_data.Add(temp);
}
}
}
/*
private static int CompareSimilarFeature(SimilarFeature f1, SimilarFeature f2)
{
if (f1.Distance < f2.Distance)
return -1;
if (f1.Distance == f2.Distance)
return 0;
else
return 1;
}*/
/// <summary>
/// Match the Image feature from the observed image to the features from the model image
/// </summary>
/// <param name="observedFeatures">The Image feature from the observed image</param>
/// <param name="k">The number of neighbors to find</param>
/// <param name="emax">For k-d tree only: the maximum number of leaves to visit.</param>
/// <returns>The matched features</returns>
public MatchedImageFeature[] MatchFeature(ImageFeature[] observedFeatures, int k, int emax)
{
if (observedFeatures.Length == 0) return new MatchedImageFeature[0];
float[][] descriptors = new float[observedFeatures.Length][];
for (int i = 0; i < observedFeatures.Length; i++)
descriptors[i] = observedFeatures[i].Descriptor;
using (Matrix<int> result1 = new Matrix<int>(descriptors.Length, k))
using (Matrix<float> dist1 = new Matrix<float>(descriptors.Length, k))
{
_modelIndex.KnnSearch(CvToolbox.GetMatrixFromDescriptors(descriptors), result1, dist1, k, emax);
int[,] indexes = result1.Data;
float[,] distances = dist1.Data;
MatchedImageFeature[] res = new MatchedImageFeature[observedFeatures.Length];
List<SimilarFeature> matchedFeatures = new List<SimilarFeature>();
for (int i = 0; i < res.Length; i++)
{
matchedFeatures.Clear();
for (int j = 0; j < k; j++)
{
int index = indexes[i, j];
if (index >= 0)
{
matchedFeatures.Add(new SimilarFeature(distances[i, j], _modelFeatures[index]));
}
}
res[i].ObservedFeature = observedFeatures[i];
res[i].SimilarFeatures = matchedFeatures.ToArray();
}
return res;
}
}
/// <summary>
/// Create a similar Image feature
/// </summary>
/// <param name="distance">The distance to the comparing Image feature</param>
/// <param name="feature">A similar Image feature</param>
public SimilarFeature(double distance, ImageFeature feature)
{
_distance = distance;
_feature = feature;
}
/// <summary>
/// Create a similar Image feature
/// </summary>
/// <param name="distance">The distance to the comparing Image feature</param>
/// <param name="feature">A similar Image feature</param>
public SimilarFeature(double distance, ImageFeature feature)
{
_distance = distance;
_feature = feature;
}
/// <summary>
/// Create k-d feature trees using the Image feature extracted from the model image.
/// </summary>
/// <param name="modelFeatures">The Image feature extracted from the model image</param>
public ImageFeatureMatcher(ImageFeature[] modelFeatures)
{
Debug.Assert(modelFeatures.Length > 0, "Model Features should have size > 0");
_modelIndex = new Flann.Index(
CvToolbox.GetMatrixFromDescriptors(
Array.ConvertAll<ImageFeature, float[]>(
modelFeatures,
delegate(ImageFeature f) { return f.Descriptor; })),
1);
_modelFeatures = modelFeatures;
}
/// <summary>
/// Create a Image tracker, where Image is matched with flann
/// </summary>
/// <param name="modelFeatures">The Image feature from the model image</param>
public Features2DTracker(ImageFeature[] modelFeatures)
{
_matcher = new ImageFeatureMatcher(modelFeatures);
}
/// <summary>
/// Create a matched feature structure.
/// </summary>
/// <param name="observedFeature">The feature from the observed image</param>
/// <param name="modelFeatures">The matched feature from the model</param>
/// <param name="dist">The distances between the feature from the observerd image and the matched feature from the model image</param>
public MatchedImageFeature(ImageFeature observedFeature, ImageFeature[] modelFeatures, double[] dist)
{
ObservedFeature = observedFeature;
_similarFeatures = new SimilarFeature[modelFeatures.Length];
for (int i = 0; i < modelFeatures.Length; i++)
_similarFeatures[i] = new SimilarFeature(dist[i], modelFeatures[i]);
}
/// <summary>
/// Convert the raw keypoints and descriptors to array of managed structure.
/// </summary>
/// <param name="modelKeyPointVec">The model keypoint vector</param>
/// <param name="modelDescriptorMat">The mode descriptor vector</param>
/// <param name="observedKeyPointVec">The observerd keypoint vector</param>
/// <param name="observedDescriptorMat">The observed descriptor vector</param>
/// <param name="indices">The indices matrix</param>
/// <param name="dists">The distances matrix</param>
/// <param name="mask">The mask</param>
/// <returns>The managed MatchedImageFeature array</returns>
public static MatchedImageFeature[] ConvertToMatchedImageFeature(
VectorOfKeyPoint modelKeyPointVec, Matrix <TDescriptor> modelDescriptorMat,
VectorOfKeyPoint observedKeyPointVec, Matrix <TDescriptor> observedDescriptorMat,
Matrix <int> indices, Matrix <float> dists, Matrix <Byte> mask)
{
MKeyPoint[] modelKeyPoints = modelKeyPointVec.ToArray();
MKeyPoint[] observedKeyPoints = observedKeyPointVec.ToArray();
int resultLength = (mask == null) ? observedKeyPoints.Length : CvInvoke.cvCountNonZero(mask);
MatchedImageFeature[] result = new MatchedImageFeature[resultLength];
MCvMat modelMat = (MCvMat)Marshal.PtrToStructure(modelDescriptorMat.Ptr, typeof(MCvMat));
long modelPtr = modelMat.data.ToInt64();
int modelStep = modelMat.step;
MCvMat observedMat = (MCvMat)Marshal.PtrToStructure(observedDescriptorMat.Ptr, typeof(MCvMat));
long observedPtr = observedMat.data.ToInt64();
int observedStep = observedMat.step;
int descriptorLength = modelMat.cols;
int descriptorSizeInByte = descriptorLength * Marshal.SizeOf(typeof(TDescriptor));
int k = dists.Cols;
TDescriptor[] tmp = new TDescriptor[descriptorLength];
GCHandle handle = GCHandle.Alloc(tmp, GCHandleType.Pinned);
IntPtr address = handle.AddrOfPinnedObject();
int resultIdx = 0;
for (int i = 0; i < observedKeyPoints.Length; i++)
{
if (mask != null && mask.Data[i, 0] == 0)
{
continue;
}
SimilarFeature[] features = new SimilarFeature[k];
for (int j = 0; j < k; j++)
{
features[j].Distance = dists.Data[i, j];
ImageFeature <TDescriptor> imgFeature = new ImageFeature <TDescriptor>();
int idx = indices.Data[i, j];
if (idx == -1)
{
Array.Resize(ref features, j);
break;
}
imgFeature.KeyPoint = modelKeyPoints[idx];
imgFeature.Descriptor = new TDescriptor[descriptorLength];
Emgu.Util.Toolbox.memcpy(address, new IntPtr(modelPtr + modelStep * idx), descriptorSizeInByte);
tmp.CopyTo(imgFeature.Descriptor, 0);
features[j].Feature = imgFeature;
}
result[resultIdx].SimilarFeatures = features;
ImageFeature <TDescriptor> observedFeature = new ImageFeature <TDescriptor>();
observedFeature.KeyPoint = observedKeyPoints[i];
observedFeature.Descriptor = new TDescriptor[descriptorLength];
Emgu.Util.Toolbox.memcpy(address, new IntPtr(observedPtr + observedStep * i), descriptorSizeInByte);
tmp.CopyTo(observedFeature.Descriptor, 0);
result[resultIdx].ObservedFeature = observedFeature;
resultIdx++;
}
handle.Free();
return(result);
}
/// <summary>
/// Match the Image feature from the observed image to the features from the model image
/// </summary>
/// <param name="observedFeatures">The Image feature from the observed image</param>
/// <param name="k">The number of neighbors to find</param>
/// <param name="emax">For k-d tree only: the maximum number of leaves to visit.</param>
/// <returns>The matched features</returns>
public MatchedImageFeature[] MatchFeature(ImageFeature[] observedFeatures, int k, int emax)
{
return _matcher.MatchFeature(observedFeatures, k, emax);
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The image features founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image<Gray, Byte> image, Image<Gray, byte> mask, MKeyPoint[] keyPoints)
{
if (keyPoints.Length == 0) return new ImageFeature[0];
using (VectorOfFloat descVec = new VectorOfFloat())
using (VectorOfKeyPoint kpts = new VectorOfKeyPoint())
{
kpts.Push(keyPoints);
CvSIFTDetectorComputeDescriptors(_ptr, image, mask, kpts, descVec);
int n = keyPoints.Length;
float[] descs = descVec.ToArray();
//long address = descVec.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = DescriptorSize;
for (int i = 0; i < n; i++)
{
features[i].KeyPoint = keyPoints[i];
float[] d = new float[sizeOfdescriptor];
Array.Copy(descs, i * sizeOfdescriptor, d, 0, sizeOfdescriptor);
features[i].Descriptor = d;
}
return features;
}
}
public void Testing( ImageFeature<float>[] TestImage , List<int> desired)
{
Testing_data.Clear();
int[] res = new int[OutPut.Count()];
TestDataProcessing(TestImage);
for (int sampleindex = 0; sampleindex < Testing_data.Count; sampleindex++)
{
#region Getting Hidden layer Output
List<double> HidOut = new List<double>();
for (int clusterindx = 0; clusterindx < Clusters.Count(); clusterindx++)
{
double seg = segma[clusterindx];
HidOut.Add(distance(Testing_data[sampleindex].features, Clusters[clusterindx].center.features));
HidOut[clusterindx] = -1 * Math.Pow(HidOut[clusterindx], 2);
seg= 2 *Math.Pow(seg, 2);
HidOut[clusterindx] = Math.Exp(HidOut[clusterindx] / seg);
}
#endregion
#region Calculate Output Layer
List<double> _outp = new List<double>();
for (int Outindx = 0; Outindx < OutPut.Count(); Outindx++)
{
List<double> weights = OutPut[Outindx].get_weights();
double sumv = 0;
for (int weightindx = 0; weightindx < weights.Count(); weightindx++)
{
sumv += (weights[weightindx] * HidOut[weightindx]);
}
_outp.Add(sumv);
}
List<int> __outp = get_out(_outp);
for (int cc = 0; cc < OutPut.Count; cc++)
{
res[cc] += __outp[cc];
}
#endregion
}
#region Find Detected Objects
string str = "";
for (int ee = 0; ee < OutPut.Count; ee++)
{
if (res[ee] >= 3)
{
// object of ee is exist in the image XD
str += objects[ee];
str += "\t";
}
}
MessageBox.Show(str + " Is Exist\n");
#endregion
}
/// <summary>
/// Detect image features from the given image
/// </summary>
/// <param name="image">The image to detect features from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <returns>The Image features detected from the given image</returns>
public ImageFeature[] DetectFeatures(Image<Gray, Byte> image, Image<Gray, byte> mask)
{
using (MemStorage stor = new MemStorage())
using (VectorOfFloat descs = new VectorOfFloat())
{
Seq<MKeyPoint> pts = new Seq<MKeyPoint>(stor);
CvSURFDetectorDetectFeature(ref this, image, mask, pts, descs);
MKeyPoint[] kpts = pts.ToArray();
int n = kpts.Length;
long add = descs.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = extended == 0 ? 64 : 128;
for (int i = 0; i < n; i++, add += sizeOfdescriptor * sizeof(float))
{
features[i].KeyPoint = kpts[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(add), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return features;
}
}
/// <summary>
/// Match the Image feature from the observed image to the features from the model image
/// </summary>
/// <param name="observedFeatures">The Image feature from the observed image</param>
/// <param name="k">The number of neighbors to find</param>
/// <returns>The matched features</returns>
public MatchedImageFeature[] MatchFeature(ImageFeature[] observedFeatures, int k)
{
VectorOfKeyPoint obsKpts;
Matrix<float> obsDscpts;
ConvertFromImageFeature(observedFeatures, out obsKpts, out obsDscpts);
using (BruteForceMatcher matcher = new BruteForceMatcher(BruteForceMatcher.DistanceType.L2F32))
using (Matrix<int> indices = new Matrix<int>(obsKpts.Size, k))
using (Matrix<float> dists = new Matrix<float>(indices.Size))
{
matcher.Add(_modelDescriptors);
matcher.KnnMatch(obsDscpts, indices, dists, k, null);
MatchedImageFeature[] result = new MatchedImageFeature[observedFeatures.Length];
for (int i = 0; i < observedFeatures.Length; i++)
{
result[i].SimilarFeatures = new SimilarFeature[k];
for (int j = 0; j < k; j++)
{
result[i].SimilarFeatures[j].Distance = dists.Data[i, j];
result[i].SimilarFeatures[j].Feature = _modelFeatures[indices.Data[i, j]];
}
result[i].ObservedFeature = observedFeatures[i];
}
obsKpts.Dispose();
obsDscpts.Dispose();
return result;
}
}
/// <summary>
/// Create a Image tracker, where Image is matched with flann
/// </summary>
/// <param name="modelFeatures">The Image feature from the model image</param>
public Features2DTracker(ImageFeature[] modelFeatures)
{
//_matcher = new ImageFeatureMatcher(modelFeatures);
ConvertFromImageFeature(modelFeatures, out _modelKeyPoints, out _modelDescriptors);
_modelFeatures = modelFeatures;
}
/// <summary>
/// Detect image features from the given image
/// </summary>
/// <param name="image">The image to detect features from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <returns>The Image features detected from the given image</returns>
public ImageFeature[] DetectFeatures(Image<Gray, Byte> image, Image<Gray, byte> mask)
{
using (VectorOfKeyPoint pts = new VectorOfKeyPoint())
using (VectorOfFloat descVec = new VectorOfFloat())
{
CvSIFTDetectorDetectFeature(_ptr, image, mask, pts, descVec);
MKeyPoint[] kpts = pts.ToArray();
float[] desc = descVec.ToArray();
int n = kpts.Length;
int sizeOfdescriptor = DescriptorSize;
ImageFeature[] features = new ImageFeature[n];
for (int i = 0; i < n; i++)
{
features[i].KeyPoint = kpts[i];
float[] d = new float[sizeOfdescriptor];
Array.Copy(desc, i * sizeOfdescriptor, d, 0, sizeOfdescriptor);
features[i].Descriptor = d;
}
return features;
}
}
/// <summary>
/// Detect the if the model features exist in the observed features. If true, an homography matrix is returned, otherwise, null is returned.
/// </summary>
/// <param name="observedFeatures">The observed features</param>
/// <param name="uniquenessThreshold">The distance different ratio which a match is consider unique, a good number will be 0.8</param>
/// <returns>If the model features exist in the observed features, an homography matrix is returned, otherwise, null is returned.</returns>
public HomographyMatrix Detect(ImageFeature[] observedFeatures, double uniquenessThreshold)
{
MatchedImageFeature[] matchedGoodFeatures = MatchFeature(observedFeatures, 2, 20);
//Stopwatch w1 = Stopwatch.StartNew();
matchedGoodFeatures = VoteForUniqueness(matchedGoodFeatures, uniquenessThreshold);
//Trace.WriteLine(w1.ElapsedMilliseconds);
if (matchedGoodFeatures.Length < 4)
return null;
//Stopwatch w2 = Stopwatch.StartNew();
matchedGoodFeatures = VoteForSizeAndOrientation(matchedGoodFeatures, 1.5, 20);
//Trace.WriteLine(w2.ElapsedMilliseconds);
if (matchedGoodFeatures.Length < 4)
return null;
return GetHomographyMatrixFromMatchedFeatures(matchedGoodFeatures);
}
/// <summary>
/// Convert the image features to keypoint vector and descriptor matrix
/// </summary>
private static void ConvertFromImageFeature(ImageFeature[] features, out VectorOfKeyPoint keyPoints, out Matrix<float> descriptors)
{
keyPoints = new VectorOfKeyPoint();
keyPoints.Push( Array.ConvertAll<ImageFeature, MKeyPoint>(features, delegate(ImageFeature feature) { return feature.KeyPoint; }));
descriptors = new Matrix<float>(features.Length, features[0].Descriptor.Length);
int descriptorLength = features[0].Descriptor.Length;
float[,] data = descriptors.Data;
for (int i = 0; i < features.Length; i++)
{
for (int j = 0; j < descriptorLength; j++)
data[i, j] = features[i].Descriptor[j];
}
}
/// <summary>
/// Create a similar Image feature
/// </summary>
/// <param name="distance">The distance to the comparing Image feature</param>
/// <param name="feature">A similar Image feature</param>
public SimilarFeature(double distance, ImageFeature <TDescriptor> feature)
{
_distance = distance;
_feature = feature;
}
/// <summary>
/// Convert the raw keypoints and descriptors to ImageFeature
/// </summary>
/// <param name="keyPointsVec">The raw keypoints vector</param>
/// <param name="descriptors">The raw descriptor matrix</param>
/// <returns>An array of image features</returns>
public static ImageFeature[] ConvertToImageFeature(VectorOfKeyPoint keyPointsVec, Matrix<float> descriptors)
{
if (keyPointsVec.Size == 0) return new ImageFeature[0];
Debug.Assert(keyPointsVec.Size == descriptors.Rows, "Size of keypoints vector do not match the rows of the descriptors matrix.");
int sizeOfdescriptor = descriptors.Cols;
MKeyPoint[] keyPoints = keyPointsVec.ToArray();
ImageFeature[] features = new ImageFeature[keyPoints.Length];
MCvMat header = descriptors.MCvMat;
long address = header.data.ToInt64();
for (int i = 0; i < keyPoints.Length; i++, address += header.step)
{
features[i].KeyPoint = keyPoints[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(address), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return features;
}
/// <summary>
/// Compute the descriptor given the image and the point location
/// </summary>
/// <param name="image">The image where the descriptor will be computed from</param>
/// <param name="mask">The optional mask, can be null if not needed</param>
/// <param name="keyPoints">The keypoint where the descriptor will be computed from</param>
/// <returns>The image features founded on the keypoint location</returns>
public ImageFeature[] ComputeDescriptors(Image<Gray, Byte> image, Image<Gray, byte> mask, MKeyPoint[] keyPoints)
{
if (keyPoints.Length == 0) return new ImageFeature[0];
using (VectorOfFloat descs = new VectorOfFloat())
{
GCHandle handle = GCHandle.Alloc(keyPoints, GCHandleType.Pinned);
CvSIFTDetectorComputeDescriptors(_ptr, image, mask, handle.AddrOfPinnedObject(), keyPoints.Length, descs);
handle.Free();
int n = keyPoints.Length;
long address = descs.StartAddress.ToInt64();
ImageFeature[] features = new ImageFeature[n];
int sizeOfdescriptor = DescriptorSize;
for (int i = 0; i < n; i++, address += sizeOfdescriptor * sizeof(float))
{
features[i].KeyPoint = keyPoints[i];
float[] desc = new float[sizeOfdescriptor];
Marshal.Copy(new IntPtr(address), desc, 0, sizeOfdescriptor);
features[i].Descriptor = desc;
}
return features;
}
}
