public void Bootstrap(Mat img)
{
ValidateImages(null, img);
_bootstrapKp.Clear();
_detector.DetectRaw(img, _bootstrapKp);
_trackedFeatures = new VectorOfKeyPoint(_bootstrapKp.ToArray());
_trackedFeatures3D.Clear();
CvInvoke.CvtColor(img, _prevGray, ColorConversion.Bgr2Gray);
}
public void Bootstrap(Mat img)
{
//Detect first features in the image (clear any current tracks)
if (img.IsEmpty || !img.IsEmpty && img.NumberOfChannels != 3)
{
throw new Exception("Image is not appropriate (Empty or wrong number of channels).");
}
_bootstrapKp.Clear();
_detector.DetectRaw(img, _bootstrapKp);
_trackedFeatures = new VectorOfKeyPoint(_bootstrapKp.ToArray());
#region Trace
Trace.Indent();
Trace.WriteLine($"Bootstrap keypoints: { _trackedFeatures.Size}.");
Trace.Unindent();
Trace.WriteLine("--------------------------");
#endregion
CvInvoke.CvtColor(img, _prevGray, ColorConversion.Bgr2Gray);
}
