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Improved SURFFeature example. 

git-svn-id: https://emgucv.svn.sourceforge.net/svnroot/emgucv/trunk@1431 d7f09016-e345-0410-b530-edf29a71df78
UWP10
canming 14 years ago
parent
e78f9a9cc6
commit
d0f66cd989
1 changed files with 40 additions and 33 deletions
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  1. 73
      Emgu.CV.Example/SURFFeature/SURFFeature.cs

73
Emgu.CV.Example/SURFFeature/SURFFeature.cs
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@ -44,9 +44,10 @@ namespace SURFFeatureExample
VectorOfKeyPoint modelKeyPoints;
VectorOfKeyPoint observedKeyPoints;
Matrix<int> indices;
Matrix<float> dist;
Matrix<byte> mask;
Matrix<byte> mask;
int k = 2;
double uniquenessThreshold = 0.8;
if (GpuInvoke.HasCuda)
{
GpuSURFDetector surfGPU = new GpuSURFDetector(surfCPU.SURFParams, 0.01f);
@ -64,31 +65,38 @@ namespace SURFFeatureExample
using (GpuImage<Gray, Byte> gpuObservedImage = new GpuImage<Gray, byte>(observedImage))
using (GpuMat<float> gpuObservedKeyPoints = surfGPU.DetectKeyPointsRaw(gpuObservedImage, null))
using (GpuMat<float> gpuObservedDescriptors = surfGPU.ComputeDescriptorsRaw(gpuObservedImage, null, gpuObservedKeyPoints))
using (GpuMat<int> gpuMatchIndices = new GpuMat<int>(gpuObservedDescriptors.Size.Height, 2, 1))
using (GpuMat<float> gpuMatchDist = new GpuMat<float>(gpuMatchIndices.Size, 1))
using (GpuMat<int> gpuMatchIndices = new GpuMat<int>(gpuObservedDescriptors.Size.Height, k, 1, true))
using (GpuMat<float> gpuMatchDist = new GpuMat<float>(gpuObservedDescriptors.Size.Height, k, 1, true))
using (GpuMat<Byte> gpuMask = new GpuMat<byte>(gpuMatchIndices.Size.Height, 1, 1))
using (Stream stream = new Stream())
{
observedKeyPoints = new VectorOfKeyPoint();
surfGPU.DownloadKeypoints(gpuObservedKeyPoints, observedKeyPoints);
matcher.KnnMatch(gpuObservedDescriptors, gpuModelDescriptors, gpuMatchIndices, gpuMatchDist, 2, null);
matcher.KnnMatch(gpuObservedDescriptors, gpuModelDescriptors, gpuMatchIndices, gpuMatchDist, k, null, stream);
indices = new Matrix<int>(gpuMatchIndices.Size);
dist = new Matrix<float>(indices.Size);
gpuMatchIndices.Download(indices);
gpuMatchDist.Download(dist);
mask = new Matrix<byte>(dist.Rows, 1);
mask = new Matrix<byte>(gpuMask.Size);
mask.SetValue(255);
Features2DToolbox.VoteForUniqueness(dist, 0.8, mask);
//gpu implementation of voteForUniquess
using (GpuMat<float> col0 = gpuMatchDist.Col(0))
using (GpuMat<float> col1 = gpuMatchDist.Col(1))
{
GpuInvoke.Multiply(col1, new MCvScalar(uniquenessThreshold), col1, stream);
GpuInvoke.Compare(col0, col1, gpuMask, CMP_TYPE.CV_CMP_LE, stream);
}
observedKeyPoints = new VectorOfKeyPoint();
surfGPU.DownloadKeypoints(gpuObservedKeyPoints, observedKeyPoints);
//wait for the stream to complete its tasks
//We can perform some other CPU intesive stuffs here while we are waiting for the stream to complete.
stream.WaitForCompletion();
gpuMask.Download(mask);
gpuMatchIndices.Download(indices);
int nonZeroCount = CvInvoke.cvCountNonZero(mask);
if (nonZeroCount >= 4)
if (GpuInvoke.CountNonZero(gpuMask) >= 4)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
int nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
if (nonZeroCount >= 4)
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, indices, mask, 3);
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, indices, mask, 2);
}
watch.Stop();
@ -110,23 +118,22 @@ namespace SURFFeatureExample
BruteForceMatcher<float> matcher = new BruteForceMatcher<float>(DistanceType.L2F32);
matcher.Add(modelDescriptors);
int k = 2;
indices = new Matrix<int>(observedDescriptors.Rows, k);
dist = new Matrix<float>(observedDescriptors.Rows, k);
matcher.KnnMatch(observedDescriptors, indices, dist, k, null);
mask = new Matrix<byte>(dist.Rows, 1);
mask.SetValue(255);
Features2DToolbox.VoteForUniqueness(dist, 0.8, mask);
indices = new Matrix<int>(observedDescriptors.Rows, k);
using (Matrix<float> dist = new Matrix<float>(observedDescriptors.Rows, k))
{
matcher.KnnMatch(observedDescriptors, indices, dist, k, null);
mask = new Matrix<byte>(dist.Rows, 1);
mask.SetValue(255);
Features2DToolbox.VoteForUniqueness(dist, uniquenessThreshold, mask);
}
int nonZeroCount = CvInvoke.cvCountNonZero(mask);
if (nonZeroCount >= 4)
{
nonZeroCount = Features2DToolbox.VoteForSizeAndOrientation(modelKeyPoints, observedKeyPoints, indices, mask, 1.5, 20);
if (nonZeroCount >= 4)
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, indices, mask, 3);
homography = Features2DToolbox.GetHomographyMatrixFromMatchedFeatures(modelKeyPoints, observedKeyPoints, indices, mask, 2);
}
watch.Stop();
@ -134,7 +141,7 @@ namespace SURFFeatureExample
//Draw the matched keypoints
Image<Bgr, Byte> result = Features2DToolbox.DrawMatches(modelImage, modelKeyPoints, observedImage, observedKeyPoints,
indices, new Bgr(255, 255, 255), new Bgr(255, 255, 255), mask, Features2DToolbox.KeypointDrawType.NOT_DRAW_SINGLE_POINTS);
indices, new Bgr(255, 255, 255), new Bgr(255, 255, 255), mask, Features2DToolbox.KeypointDrawType.DEFAULT);
#region draw the projected region on the image
if (homography != null)

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