/// <summary>
/// Computes an image descriptor using the set visual vocabulary.
/// </summary>
/// <param name="image">Image, for which the descriptor is computed.</param>
/// <param name="keypoints">Keypoints detected in the input image.</param>
/// <param name="imgDescriptor">Computed output image descriptor.</param>
/// <param name="pointIdxsOfClusters">pointIdxsOfClusters Indices of keypoints that belong to the cluster.
/// This means that pointIdxsOfClusters[i] are keypoint indices that belong to the i -th cluster(word of vocabulary) returned if it is non-zero.</param>
/// <param name="descriptors">Descriptors of the image keypoints that are returned if they are non-zero.</param>
public void Compute(Mat image, out KeyPoint[] keypoints, Mat imgDescriptor,
out int[][] pointIdxsOfClusters, Mat descriptors = null)
{
if (IsDisposed)
{
throw new ObjectDisposedException(GetType().Name);
}
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (imgDescriptor == null)
{
throw new ArgumentNullException(nameof(imgDescriptor));
}
using (var keypointsVec = new VectorOfKeyPoint())
using (var pointIdxsOfClustersVec = new VectorOfVectorInt())
{
NativeMethods.features2d_BOWImgDescriptorExtractor_compute1(ptr, image.CvPtr, keypointsVec.CvPtr,
imgDescriptor.CvPtr, pointIdxsOfClustersVec.CvPtr, Cv2.ToPtr(descriptors));
keypoints = keypointsVec.ToArray();
pointIdxsOfClusters = pointIdxsOfClustersVec.ToArray();
}
GC.KeepAlive(image);
GC.KeepAlive(imgDescriptor);
GC.KeepAlive(descriptors);
}
/// <summary>
///
/// </summary>
/// <returns></returns>
public KeyPoint[] ReadKeyPoints()
{
using (var valueVector = new VectorOfKeyPoint())
{
NativeMethods.core_FileNode_read_vectorOfKeyPoint(ptr, valueVector.CvPtr);
return(valueVector.ToArray());
}
}
/// <summary>
/// Compute the descriptors for a set of keypoints in an image.
/// </summary>
/// <param name="image">The image.</param>
/// <param name="keypoints">The input keypoints. Keypoints for which a descriptor cannot be computed are removed.</param>
/// <param name="descriptors">Copmputed descriptors. Row i is the descriptor for keypoint i.</param>param>
public virtual void Compute(Mat image, ref KeyPoint[] keypoints, Mat descriptors)
{
if (image == null)
{
throw new ArgumentNullException("image");
}
using (var keypointsVec = new VectorOfKeyPoint(keypoints))
{
NativeMethods.features2d_Feature2D_compute(ptr, image.CvPtr, keypointsVec.CvPtr, descriptors.CvPtr);
keypoints = keypointsVec.ToArray();
}
}
/// <summary>
/// Detect keypoints in an image.
/// </summary>
/// <param name="image">The image.</param>
/// <param name="mask">Mask specifying where to look for keypoints (optional).
/// Must be a char matrix with non-zero values in the region of interest.</param>
/// <returns>The detected keypoints.</returns>
public KeyPoint[] Detect(Mat image, Mat mask = null)
{
if (image == null)
{
throw new ArgumentNullException("image");
}
using (var keypoints = new VectorOfKeyPoint())
{
NativeMethods.features2d_FeatureDetector_detect(ptr, image.CvPtr, keypoints.CvPtr, Cv2.ToPtr(mask));
return(keypoints.ToArray());
}
}
/// <summary>
/// detects corners using FAST algorithm by E. Rosten
/// </summary>
/// <param name="image"></param>
/// <param name="keypoints"></param>
/// <param name="threshold"></param>
/// <param name="nonmaxSupression"></param>
/// <param name="type"></param>
public static void FASTX(InputArray image, out KeyPoint[] keypoints, int threshold, bool nonmaxSupression, int type)
{
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
image.ThrowIfDisposed();
using (var kp = new VectorOfKeyPoint())
{
NativeMethods.features2d_FASTX(image.CvPtr, kp.CvPtr, threshold, nonmaxSupression ? 1 : 0, type);
keypoints = kp.ToArray();
}
}
/// <summary>
/// Compute the BRISK features on an image
/// </summary>
/// <param name="image"></param>
/// <param name="mask"></param>
/// <returns></returns>
public KeyPoint[] Run(InputArray image, InputArray mask = null)
{
ThrowIfDisposed();
if (image == null)
{
throw new ArgumentNullException("image");
}
image.ThrowIfDisposed();
using (VectorOfKeyPoint keyPointsVec = new VectorOfKeyPoint())
{
NativeMethods.features2d_BRISK_run1(ptr, image.CvPtr, Cv2.ToPtr(mask), keyPointsVec.CvPtr);
return(keyPointsVec.ToArray());
}
}
/// <summary>
/// 高速なマルチスケール Hesian 検出器を用いて keypoint を検出します．
/// </summary>
/// <param name="img"></param>
/// <param name="mask"></param>
/// <returns></returns>
#else
/// <summary>
/// detects keypoints using fast multi-scale Hessian detector
/// </summary>
/// <param name="img"></param>
/// <param name="mask"></param>
/// <returns></returns>
#endif
public KeyPoint[] Run(InputArray img, Mat mask)
{
ThrowIfDisposed();
if (img == null)
{
throw new ArgumentNullException("img");
}
img.ThrowIfDisposed();
using (VectorOfKeyPoint keypointsVec = new VectorOfKeyPoint())
{
NativeMethods.nonfree_SURF_run1(ptr, img.CvPtr, Cv2.ToPtr(mask), keypointsVec.CvPtr);
return(keypointsVec.ToArray());
}
}
/// <summary>
/// StarDetectorアルゴリズムによりキーポイントを取得する
/// </summary>
/// <param name="image">8ビット グレースケールの入力画像</param>
/// <returns></returns>
#else
/// <summary>
/// Retrieves keypoints using the StarDetector algorithm.
/// </summary>
/// <param name="image">The input 8-bit grayscale image</param>
/// <returns></returns>
#endif
public KeyPoint[] Run(Mat image)
{
if (image == null)
{
throw new ArgumentNullException("image");
}
image.ThrowIfDisposed();
IntPtr keypoints;
NativeMethods.features2d_StarDetector_detect(ptr, image.CvPtr, out keypoints);
using (VectorOfKeyPoint keypointsVec = new VectorOfKeyPoint(keypoints))
{
return(keypointsVec.ToArray());
}
}
/// <summary>
/// keypoint を検出し，その SURF ディスクリプタを計算します．[useProvidedKeypoints = true]
/// </summary>
/// <param name="img"></param>
/// <param name="mask"></param>
/// <param name="keypoints"></param>
/// <param name="descriptors"></param>
/// <param name="useProvidedKeypoints"></param>
#else
/// <summary>
/// detects keypoints and computes the SURF descriptors for them. [useProvidedKeypoints = true]
/// </summary>
/// <param name="img"></param>
/// <param name="mask"></param>
/// <param name="keypoints"></param>
/// <param name="descriptors"></param>
/// <param name="useProvidedKeypoints"></param>
#endif
public void Run(InputArray img, InputArray mask, out KeyPoint[] keypoints, out float[] descriptors,
bool useProvidedKeypoints = false)
{
ThrowIfDisposed();
if (img == null)
{
throw new ArgumentNullException("img");
}
img.ThrowIfDisposed();
using (VectorOfKeyPoint keypointsVec = new VectorOfKeyPoint())
using (VectorOfFloat descriptorsVec = new VectorOfFloat())
{
NativeMethods.nonfree_SURF_run2_vector(ptr, img.CvPtr, Cv2.ToPtr(mask), keypointsVec.CvPtr,
descriptorsVec.CvPtr, useProvidedKeypoints ? 1 : 0);
keypoints = keypointsVec.ToArray();
descriptors = descriptorsVec.ToArray();
}
}
/// <summary>
///
/// </summary>
/// <param name="gaussPyr"></param>
/// <param name="dogPyr"></param>
/// <returns></returns>
public KeyPoint[] FindScaleSpaceExtrema(IEnumerable <Mat> gaussPyr, IEnumerable <Mat> dogPyr)
{
ThrowIfDisposed();
if (gaussPyr == null)
{
throw new ArgumentNullException("gaussPyr");
}
if (dogPyr == null)
{
throw new ArgumentNullException("dogPyr");
}
IntPtr[] gaussPyrPtrs = EnumerableEx.SelectPtrs(gaussPyr);
IntPtr[] dogPyrPtrs = EnumerableEx.SelectPtrs(dogPyr);
using (VectorOfKeyPoint keyPointsVec = new VectorOfKeyPoint())
{
NativeMethods.nonfree_SIFT_findScaleSpaceExtrema(ptr, gaussPyrPtrs, gaussPyrPtrs.Length,
dogPyrPtrs, dogPyrPtrs.Length, keyPointsVec.CvPtr);
return(keyPointsVec.ToArray());
}
}
/// <summary>
/// keypoint を検出し，その SURF ディスクリプタを計算します．[useProvidedKeypoints = true]
/// </summary>
/// <param name="img"></param>
/// <param name="mask"></param>
/// <param name="keypoints"></param>
/// <param name="descriptors"></param>
/// <param name="useProvidedKeypoints"></param>
#else
/// <summary>
/// detects keypoints and computes the SURF descriptors for them. [useProvidedKeypoints = true]
/// </summary>
/// <param name="img"></param>
/// <param name="mask"></param>
/// <param name="keypoints"></param>
/// <param name="descriptors"></param>
/// <param name="useProvidedKeypoints"></param>
#endif
public void Run(InputArray img, InputArray mask, out KeyPoint[] keypoints, OutputArray descriptors,
bool useProvidedKeypoints = false)
{
ThrowIfDisposed();
if (img == null)
{
throw new ArgumentNullException(nameof(img));
}
if (descriptors == null)
{
throw new ArgumentNullException(nameof(descriptors));
}
img.ThrowIfDisposed();
descriptors.ThrowIfNotReady();
using (VectorOfKeyPoint keypointsVec = new VectorOfKeyPoint())
{
NativeMethods.nonfree_SURF_run2_OutputArray(ptr, img.CvPtr, Cv2.ToPtr(mask), keypointsVec.CvPtr,
descriptors.CvPtr, useProvidedKeypoints ? 1 : 0);
keypoints = keypointsVec.ToArray();
}
}
/// <summary>
/// Compute the BRISK features and descriptors on an image
/// </summary>
/// <param name="image"></param>
/// <param name="mask"></param>
/// <param name="keyPoints"></param>
/// <param name="descriptors"></param>
/// <param name="useProvidedKeypoints"></param>
public void Run(InputArray image, InputArray mask, out KeyPoint[] keyPoints,
OutputArray descriptors, bool useProvidedKeypoints = false)
{
ThrowIfDisposed();
if (image == null)
{
throw new ArgumentNullException("image");
}
if (descriptors == null)
{
throw new ArgumentNullException("descriptors");
}
image.ThrowIfDisposed();
descriptors.ThrowIfNotReady();
using (VectorOfKeyPoint keyPointsVec = new VectorOfKeyPoint())
{
NativeMethods.features2d_BRISK_run2(ptr, image.CvPtr, Cv2.ToPtr(mask), keyPointsVec.CvPtr,
descriptors.CvPtr, useProvidedKeypoints ? 1 : 0);
keyPoints = keyPointsVec.ToArray();
}
descriptors.Fix();
}
/// <summary>
/// Computes an image descriptor using the set visual vocabulary.
/// </summary>
/// <param name="image">Image, for which the descriptor is computed.</param>
/// <param name="keypoints">Keypoints detected in the input image.</param>
/// <param name="imgDescriptor">Computed output image descriptor.</param>
public void Compute2(Mat image, out KeyPoint[] keypoints, Mat imgDescriptor)
{
if (IsDisposed)
{
throw new ObjectDisposedException(GetType().Name);
}
if (image == null)
{
throw new ArgumentNullException(nameof(image));
}
if (imgDescriptor == null)
{
throw new ArgumentNullException(nameof(imgDescriptor));
}
using (var keypointsVec = new VectorOfKeyPoint())
{
NativeMethods.features2d_BOWImgDescriptorExtractor_compute2(
ptr, image.CvPtr, keypointsVec.CvPtr, imgDescriptor.CvPtr);
keypoints = keypointsVec.ToArray();
}
GC.KeepAlive(image);
GC.KeepAlive(imgDescriptor);
}
