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); } } } } } }
/// <summary> /// Returns Torgerson's additive constant /// </summary> /// <param name="mat"></param> /// <returns></returns> private double Torgerson(Mat mat) { if (mat == null) throw new ArgumentNullException(); if (mat.Rows != mat.Cols) throw new ArgumentException(); int n = mat.Rows; // Additive constant in case of negative value double min, max; Cv2.MinMaxLoc(-mat, out min, out max); double c2 = max; // Additive constant from triangular inequality double c1 = 0; var at = mat.GetGenericIndexer<double>(); for (int i = 0; i < n; i++) { for (int j = 0; j < n; j++) { for (int k = 0; k < n; k++) { double v = at[i, k] - at[i, j] - at[j, k]; if (v > c1) { c1 = v; } } } } return Math.Max(Math.Max(c1, c2), 0); }