private void StartMatching(int countOfExistedKeypoint, IFeatureMatcher matcher)
{
if (_useParallel)
{
StartParallelMatching(countOfExistedKeypoint, matcher);
}
else
{
StartSequenceMatching(countOfExistedKeypoint, matcher);
}
}
private void StartStereoParallelMatching(int countOfExistedKeypoint, IFeatureMatcher matcher)
{
FindMatches(matcher, ComputedDescriptors[countOfExistedKeypoint - 2], ComputedDescriptors[countOfExistedKeypoint - 1]);
switch (_matchingType)
{
case EMatchingType.OnePrevious:
Parallel.For(countOfExistedKeypoint, ComputedDescriptors.Count, index =>
{
if (index >= 1 * 2)
{
Parallel.For(index - (1 * 2), index, i =>
{
if ((index - i) % 2 == 0)
{
FindMatches(matcher, ComputedDescriptors[index], ComputedDescriptors[i]);
}
});
}
});
break;
case EMatchingType.TwoPrevious:
Parallel.For(countOfExistedKeypoint, ComputedDescriptors.Count, index =>
{
if (index >= 2 * 2)
{
Parallel.For(index - (2 * 2), index, i =>
{
if ((index - i) % 2 == 0)
{
FindMatches(matcher, ComputedDescriptors[index], ComputedDescriptors[i]);
}
});
}
});
break;
case EMatchingType.AllWithAll:
throw new NotImplementedException();
Parallel.For(countOfExistedKeypoint, ComputedDescriptors.Count, index =>
{
Parallel.For(index + 1, ComputedDescriptors.Count, i =>
{
FindMatches(matcher, ComputedDescriptors[index], ComputedDescriptors[i]);
});
});
break;
}
}
public void SetFeatureMatcher(object sender, EventArgs e)
{
var currentItem = sender as ToolStripComboBox;
var enumItem = EnumExtension.ReturnEnumValue <EFeaturesMatcher>(currentItem.SelectedItem.ToString());
IFeatureMatcher tempItem = null;
switch (enumItem)
{
case EFeaturesMatcher.BruteForce: tempItem = new BruteForce(); break;
case EFeaturesMatcher.CudaBruteForce: tempItem = new CudaBruteForce(); break;
}
_sfmManager._matcher = tempItem;
}
private void StartStereoSequenceMatching(int countOfExistedKeypoint, IFeatureMatcher matcher)
{
FindMatches(matcher, ComputedDescriptors[countOfExistedKeypoint - 2], ComputedDescriptors[countOfExistedKeypoint - 1]);
switch (_matchingType)
{
case EMatchingType.OnePrevious:
for (int m = countOfExistedKeypoint; m < ComputedDescriptors.Count; m++)
{
for (int n = m - (1 * 2); n < m; n += 2)
{
if (n >= 0)
{
FindMatches(matcher, ComputedDescriptors[m], ComputedDescriptors[n]);
}
}
}
break;
case EMatchingType.TwoPrevious:
for (int m = countOfExistedKeypoint; m < ComputedDescriptors.Count; m++)
{
for (int n = m - (2 * 2); n < m; n += 2)
{
if (n >= 0)
{
FindMatches(matcher, ComputedDescriptors[m], ComputedDescriptors[n]);
}
}
}
break;
case EMatchingType.AllWithAll:
throw new NotImplementedException();
for (int m = countOfExistedKeypoint; m < ComputedDescriptors.Count; m++)
{
for (int n = m + 1; n < ComputedDescriptors.Count; n++)
{
FindMatches(matcher, ComputedDescriptors[m], ComputedDescriptors[n]);
}
}
break;
}
}
private void FindMatches(IFeatureMatcher matcher, DescriptorModel leftDescriptor, DescriptorModel rightDescriptor, bool AddToList = true, bool FilterMatches = true, bool ComputeHomography = true, bool SaveInMatchNode = true)
{
WindowsFormHelper.AddLogToConsole($"Start computing matches for: \n" +
$"\t{leftDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n" +
$"\t{rightDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n");
var foundedMatch = new DescriptorsMatchModel()
{
FilteredMatch = FilterMatches,
LeftDescriptor = leftDescriptor,
RightDescriptor = rightDescriptor
};
var matches = new VectorOfVectorOfDMatch();
matcher.Match(leftDescriptor.Descriptors, rightDescriptor.Descriptors, matches);
WindowsFormHelper.AddLogToConsole(
$"FINISH computing matches for: \n" +
$"\t{leftDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n" +
$"\t{rightDescriptor.KeyPoint.InputFile.fileInfo.Name.ToString()}\n"
);
MDMatch[][] matchesArray = matches.ToArrayOfArray();
foundedMatch.MatchesList = matchesArray.ToList();
if (FilterMatches)
{
FindMinMaxDistInMatches(matchesArray, ref ms_MAX_DIST, ref ms_MIN_DIST);
List <MDMatch[]> filteredMatchesList = FilterMatchesByMaxDist(matchesArray);
foundedMatch.FilteredMatchesList = filteredMatchesList;
}
if (ComputeHomography)
{
var PerspectiveMatrix = new Mat();
Mat Mask = new Mat();
lock (locker)
{
var matchesForHomography = FilterMatches ? foundedMatch.FilteredMatchesList : foundedMatch.MatchesList;
if (matchesForHomography.Count > 0)
{
PerspectiveMatrix = FindHomography(leftDescriptor.KeyPoint.DetectedKeyPoints, rightDescriptor.KeyPoint.DetectedKeyPoints, FilterMatches ? foundedMatch.FilteredMatchesList : foundedMatch.MatchesList, Mask);
foundedMatch.Mask = Mask;
foundedMatch.PerspectiveMatrix = PerspectiveMatrix;
}
}
}
// Save drawing image
Mat output = new Mat();
Directory.CreateDirectory($@"{tempDirectory}\DrawMatches");
Features2DToolbox.DrawMatches(new Mat(foundedMatch.LeftDescriptor.KeyPoint.InputFile.fileInfo.FullName), foundedMatch.LeftDescriptor.KeyPoint.DetectedKeyPoints, new Mat(foundedMatch.RightDescriptor.KeyPoint.InputFile.fileInfo.FullName), foundedMatch.RightDescriptor.KeyPoint.DetectedKeyPoints, new VectorOfVectorOfDMatch(foundedMatch.FilteredMatchesList.ToArray()), output, new MCvScalar(0, 0, 255), new MCvScalar(0, 255, 0), foundedMatch.Mask);
output.Save(Path.Combine($@"{tempDirectory}\DrawMatches", $"{Path.GetFileNameWithoutExtension(foundedMatch.RightDescriptor.KeyPoint.InputFile.fileInfo.Name)}-{Path.GetFileNameWithoutExtension(foundedMatch.LeftDescriptor.KeyPoint.InputFile.fileInfo.Name)}.JPG"));
fileManager.listViewerModel._lastDrawnMatches = new Image <Bgr, byte>(output.Bitmap);
var inputFile = new InputFileModel(Path.Combine($@"{tempDirectory}\DrawMatches", $"{Path.GetFileNameWithoutExtension(foundedMatch.RightDescriptor.KeyPoint.InputFile.fileInfo.Name)}-{Path.GetFileNameWithoutExtension(foundedMatch.LeftDescriptor.KeyPoint.InputFile.fileInfo.Name)}.JPG"));
var imageList = _winForm.ImageList[(int)EListViewGroup.DrawnMatches];
var listViewer = _winForm.ListViews[(int)EListViewGroup.DrawnMatches];
fileManager.AddInputFileToList(inputFile, fileManager.listViewerModel.ListOfListInputFolder[(int)EListViewGroup.DrawnMatches], imageList, listViewer);
if (SaveInMatchNode)
{
SaveMatchString(foundedMatch, true);
}
if (AddToList)
{
FoundedMatches.Add(foundedMatch);
}
}
public void ContinueInComputingSFM(IFeatureDetector detector, IFeatureDescriptor descriptor, IFeatureMatcher matcher, List <InputFileModel> listOfInput)
{
var iterMatches = FoundedMatches.Count;
countInputFile = DetectedKeyPoints.Count;
StartDetectingKeyPoint(countInputFile, listOfInput, detector);
StartComputingDescriptor(countInputFile, descriptor);
StartMatching(countInputFile, matcher);
WriteAddedImages(listOfInput);
AppendMatches(FoundedMatches, iterMatches);
ContinueVisualSFM();
}
public void ComputeSfM(IFeatureDetector detector, IFeatureDescriptor descriptor, IFeatureMatcher matcher, List <InputFileModel> listOfInput)
{
countInputFile = 0;
DetectedKeyPoints.Clear();
ComputedDescriptors.Clear();
FoundedMatches.Clear();
switch (fileManager._inputType)
{
case EInput.ListView:
StartDetectingKeyPoint(0, listOfInput, detector);
StartComputingDescriptor(0, descriptor);
StartMatching(0, matcher);
break;
case EInput.ConnectedStereoCamera:
countInputFile = DetectedKeyPoints.Count;
listOfInput = GetInputFromStereoCamera(countInputFile);
StartDetectingKeyPoint(countInputFile, listOfInput, detector);
StartComputingDescriptor(countInputFile, descriptor);
while (!stopSFM)
{
countInputFile = DetectedKeyPoints.Count;
listOfInput = GetInputFromStereoCamera(countInputFile);
StartDetectingKeyPoint(countInputFile, listOfInput, detector);
StartComputingDescriptor(countInputFile, descriptor);
StartStereoMatching(countInputFile, matcher);
}
break;
}
WriteAllMatches(FoundedMatches);
RunVisualSFM();
}
public FeatureFilter Where(IFeatureMatcher predicate)
{
Matcher = predicate;
return(this);
}
public FeatureFilter()
{
Matcher = new FeatureMatcher();
CollectionNameSet = new List <string>();
}
