图像特征检测(Image Feature Detection)
2013-05-11 12:01
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本文转载自：,/content/3880467.html。
=========================================================
前言
图像特征提取是计算机视觉和图像处理中的一个概念。它指的是使用计算机提取图像信息，决定每个图像的点是否属于一个图像特征。本文主要探讨如何提取图像中的“角点”这一特征，及其相关的内容。而诸如直方图、边缘、区域等内容在前文中有所提及，请查看相关文章。OpenCv（EmguCv）中实现了多种角点特征的提取方法，包括：Harris角点、ShiTomasi角点、亚像素级角点、SURF角点、Star关键点、FAST关键点、Lepetit关键点等等，本文将逐一介绍如何检测这些角点。在此之前将会先介绍跟角点检测密切相关的一些变换，包括Sobel算子、拉普拉斯算子、Canny算子、霍夫变换。另外，还会介绍一种广泛使用而OpenCv中并未实现的SIFT角点检测，以及最近在OpenCv中实现的MSER区域检测。所要讲述的内容会很多，我这里尽量写一些需要注意的地方及实现代码，而参考手册及书本中有的内容将一笔带过或者不会提及。
Sobel算子
Sobel算子用多项式计算来拟合导数计算，可以用OpenCv中的cvSobel函数或者EmguCv中的Image<TColor,TDepth>.Sobel方法来进行计算。需要注意的是，xorder和yorder中必须且只能有一个为非零值，即只能计算x方向或者y反向的导数；如果将方形滤波器的宽度设置为特殊值CV_SCHARR（-1），将使用Scharr滤波器代替Sobel滤波器。
使用Sobel滤波器的示例代码如下：
//Sobel算子
private
string SobelFeatureDetect()
{
//获取参数
int
xOrder =
int.Parse((string)cmbSobelXOrder.SelectedItem);
int yOrder
=
int.Parse((string)cmbSobelYOrder.SelectedItem);
int apertureSize
=
int.Parse((string)cmbSobelApertureSize.SelectedItem);
if ((xOrder
==
0
&& yOrder
==
0)
|| (xOrder
!=
0
&& yOrder
!=
0))
return
"Sobel算子，参数错误：xOrder和yOrder中必须且只能有一个非零。\r\n";
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
Image<Gray, Single>
imageDest = imageSourceGrayscale.Sobel(xOrder,
yOrder, apertureSize);
sw.Stop();
//显示
pbResult.Image
= imageDest.Bitmap;
//释放资源
imageDest.Dispose();
//返回
return
string.Format("·Sobel算子，用时{0:F05}毫秒，参数（x方向求导阶数：{1}，y方向求导阶数：{2}，方形滤波器宽度：{3}）\r\n",
sw.Elapsed.TotalMilliseconds, xOrder, yOrder, apertureSize);
}
拉普拉斯算子
拉普拉斯算子可以用作边缘检测；可以用OpenCv中的cvLaplace函数或者EmguCv中的Image<TColor,TDepth>.Laplace方法来进行拉普拉斯变换。需要注意的是：OpenCv的文档有点小错误，apertureSize参数值不能为CV_SCHARR（-1）。
使用拉普拉斯变换的示例代码如下：
//拉普拉斯变换
private
string LaplaceFeatureDetect()
{
//获取参数
int
apertureSize =
int.Parse((string)cmbLaplaceApertureSize.SelectedItem);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
Image<Gray, Single>
imageDest = imageSourceGrayscale.Laplace(apertureSize);
sw.Stop();
//显示
pbResult.Image
= imageDest.Bitmap;
//释放资源
imageDest.Dispose();
//返回
return
string.Format("·拉普拉斯变换，用时{0:F05}毫秒，参数（方形滤波器宽度：{1}）\r\n",
sw.Elapsed.TotalMilliseconds, apertureSize);
}
Canny算子
Canny算子也可以用作边缘检测；可以用OpenCv中的cvCanny函数或者EmguCv中的Image<TColor,TDepth>.Canny方法来进行Canny边缘检测。所不同的是，Image<TColor,TDepth>.Canny方法可以用于检测彩色图像的边缘，但是它只能使用apertureSize参数的默认值3；
而cvCanny只能处理灰度图像，不过可以自定义apertureSize。cvCanny和Canny的方法参数名有点点不同，下面是参数对照表。
Image<TColor,TDepth>.Canny CvInvoke.cvCanny
thresh lowThresh
threshLinking highThresh
3 apertureSize
值得注意的是，apertureSize只能取3，5或者7，这可以在cvcanny.cpp第87行看到：
使用Canny算子的示例代码如下：
//拉普拉斯变换
private
string LaplaceFeatureDetect()
{
//获取参数
int
apertureSize =
int.Parse((string)cmbLaplaceApertureSize.SelectedItem);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
Image<Gray, Single>
imageDest = imageSourceGrayscale.Laplace(apertureSize);
sw.Stop();
//显示
pbResult.Image
= imageDest.Bitmap;
//释放资源
imageDest.Dispose();
//返回
return
string.Format("·拉普拉斯变换，用时{0:F05}毫秒，参数（方形滤波器宽度：{1}）\r\n",
sw.Elapsed.TotalMilliseconds, apertureSize);
}
//Canny算子
private
string CannyFeatureDetect()
{
//获取参数
double
lowThresh =
double.Parse(txtCannyLowThresh.Text);
double highThresh
=
double.Parse(txtCannyHighThresh.Text);
int apertureSize
=
int.Parse((string)cmbCannyApertureSize.SelectedItem);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
Image<Gray, Byte>
imageDest =
null;
Image<Bgr, Byte>
imageDest2 =
null;
if (rbCannyUseCvCanny.Checked)
{
imageDest =
new Image<Gray,
byte>(imageSourceGrayscale.Size);
CvInvoke.cvCanny(imageSourceGrayscale.Ptr, imageDest.Ptr, lowThresh, highThresh, apertureSize);
}
else
imageDest2 = imageSource.Canny(new
Bgr(lowThresh, lowThresh, lowThresh), new
Bgr(highThresh, highThresh, highThresh));
sw.Stop();
//显示
pbResult.Image
= rbCannyUseCvCanny.Checked
? imageDest.Bitmap : imageDest2.Bitmap;
//释放资源
if
(imageDest !=
null)
imageDest.Dispose();
if (imageDest2
!=
null)
imageDest2.Dispose();
//返回
return
string.Format("·Canny算子，用时{0:F05}毫秒，参数（方式：{1}，阀值下限：{2}，阀值上限：{3}，方形滤波器宽度：{4}）\r\n",
sw.Elapsed.TotalMilliseconds, rbCannyUseCvCanny.Checked ?
"cvCanny"
: "Image<TColor,
TDepth>.Canny",
lowThresh, highThresh, apertureSize);
}
另外，在http://www.china-vision.net/blog/user2/15975/archives/2007/804.html有一种自动获取Canny算子高低阀值的方法，作者提供了用C语言实现的代码。我将其改写成了C#版本，代码如下：
///
<summary>
/// 计算图像的自适应Canny算子阀值
/// </summary>
/// <param name="imageSrc">源图像，只能是256级灰度图像</param>
/// <param name="apertureSize">方形滤波器的宽度</param>
/// <param name="lowThresh">阀值下限</param>
/// <param name="highThresh">阀值上限</param>
unsafe void AdaptiveFindCannyThreshold(Image<Gray, Byte> imageSrc, int apertureSize, out double lowThresh, out double highThresh)
{
//计算源图像x方向和y方向的1阶Sobel算子
Size size = imageSrc.Size;
Image<Gray, Int16> imageDx = new Image<Gray, short>(size);
Image<Gray, Int16> imageDy = new Image<Gray, short>(size);
CvInvoke.cvSobel(imageSrc.Ptr, imageDx.Ptr, 1, 0, apertureSize);
CvInvoke.cvSobel(imageSrc.Ptr, imageDy.Ptr, 0, 1, apertureSize);
Image<Gray, Single> image = new Image<Gray, float>(size);
int i, j;
DenseHistogram hist = null;
int hist_size = 255;
float[] range_0 = new float[] { 0, 256 };
double PercentOfPixelsNotEdges = 0.7;
//计算边缘的强度，并保存于图像中
float maxv = 0;
float temp;
byte* imageDataDx = (byte*)imageDx.MIplImage.imageData.ToPointer();
byte* imageDataDy = (byte*)imageDy.MIplImage.imageData.ToPointer();
byte* imageData = (byte*)image.MIplImage.imageData.ToPointer();
int widthStepDx = imageDx.MIplImage.widthStep;
int widthStepDy = widthStepDx;
int widthStep = image.MIplImage.widthStep;
for (i = 0; i < size.Height; i++)
{
short* _dx = (short*)(imageDataDx + widthStepDx * i);
short* _dy = (short*)(imageDataDy + widthStepDy * i);
float* _image = (float*)(imageData + widthStep * i);
for (j = 0; j < size.Width; j++)
{
temp = (float)(Math.Abs(*(_dx + j)) + Math.Abs(*(_dy + j)));
*(_image + j) = temp;
if (maxv < temp)
maxv = temp;
}
}
//计算直方图
range_0[1] = maxv;
hist_size = hist_size > maxv ? (int)maxv : hist_size;
hist = new DenseHistogram(hist_size, new RangeF(range_0[0], range_0[1]));
hist.Calculate<Single>(new Image<Gray, Single>[] { image }, false, null);
int total = (int)(size.Height * size.Width * PercentOfPixelsNotEdges);
double sum = 0;
int icount = hist.BinDimension[0].Size;
for (i = 0; i < icount; i++)
{
sum += hist[i];
if (sum > total)
break;
}
//计算阀值
highThresh = (i + 1) * maxv / hist_size;
lowThresh = highThresh * 0.4;
//释放资源
imageDx.Dispose();
imageDy.Dispose(); image.Dispose();
hist.Dispose();
}
霍夫变换
霍夫变换是一种在图像中寻找直线、圆及其他简单形状的方法，在OpenCv中实现了霍夫线变换和霍夫圆变换。值得注意的地方有以下几点：（1）HoughLines2需要先计算Canny边缘，然后再检测直线；（2）HoughLines2计算结果的获取随获取方式的不同而不同；（3）HoughCircles检测结果似乎不正确。
使用霍夫变换的示例代码如下所示：
//霍夫线变换
private
string HoughLinesFeatureDetect()
{
//获取参数
HOUGH_TYPE method
= rbHoughLinesSHT.Checked
? HOUGH_TYPE.CV_HOUGH_STANDARD : (rbHoughLinesPPHT.Checked
? HOUGH_TYPE.CV_HOUGH_PROBABILISTIC
: HOUGH_TYPE.CV_HOUGH_MULTI_SCALE);
double rho
=
double.Parse(txtHoughLinesRho.Text);
double theta
=
double.Parse(txtHoughLinesTheta.Text);
int threshold
=
int.Parse(txtHoughLinesThreshold.Text);
double param1
=
double.Parse(txtHoughLinesParam1.Text);
double param2
=
double.Parse(txtHoughLinesParam2.Text);
MemStorage storage =
new MemStorage();
int linesCount
=
0;
StringBuilder sbResult =
new StringBuilder();
//计算，先运行Canny边缘检测（参数来自Canny算子属性页），然后再用计算霍夫线变换
double
lowThresh =
double.Parse(txtCannyLowThresh.Text);
double highThresh
=
double.Parse(txtCannyHighThresh.Text);
int apertureSize
=
int.Parse((string)cmbCannyApertureSize.SelectedItem);
Image<Gray, Byte>
imageCanny =
new Image<Gray,
byte>(imageSourceGrayscale.Size);
CvInvoke.cvCanny(imageSourceGrayscale.Ptr, imageCanny.Ptr, lowThresh, highThresh, apertureSize);
Stopwatch sw =
new Stopwatch();
sw.Start();
IntPtr ptrLines = CvInvoke.cvHoughLines2(imageCanny.Ptr,
storage.Ptr, method, rho, theta, threshold, param1, param2);
Seq<LineSegment2D>
linesSeq =
null;
Seq<PointF>
linesSeq2 =
null;
if (method
== HOUGH_TYPE.CV_HOUGH_PROBABILISTIC)
linesSeq =
new Seq<LineSegment2D>(ptrLines,
storage);
else
linesSeq2 =
new Seq<PointF>(ptrLines,
storage);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
if (linesSeq
!=
null)
{
linesCount = linesSeq.Total;
foreach (LineSegment2D
line in linesSeq)
{
imageResult.Draw(line, new
Bgr(255d, 0d, 0d), 4);
sbResult.AppendFormat("{0}-{1}，",
line.P1, line.P2);
}
}
else
{
linesCount = linesSeq2.Total;
foreach (PointF
line in linesSeq2)
{
float r
= line.X;
float t
= line.Y;
double a
= Math.Cos(t), b
= Math.Sin(t);
double x0
= a
* r, y0
= b
* r;
int x1
= (int)(x0
+
1000
* (-b));
int y1
= (int)(y0
+
1000
* (a));
int x2
= (int)(x0
-
1000
* (-b));
int y2
= (int)(y0
-
1000
* (a));
Point pt1 =
new Point(x1, y1);
Point pt2 =
new Point(x2, y2);
imageResult.Draw(new
LineSegment2D(pt1, pt2), new
Bgr(255d, 0d, 0d), 4);
sbResult.AppendFormat("{0}-{1}，",
pt1, pt2);
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageCanny.Dispose();
imageResult.Dispose();
storage.Dispose();
//返回
return
string.Format("·霍夫线变换，用时{0:F05}毫秒，参数（变换方式：{1}，距离精度：{2}，弧度精度：{3}，阀值：{4}，参数1：{5}，参数2：{6}），找到{7}条直线\r\n{8}",
sw.Elapsed.TotalMilliseconds, method.ToString("G"),
rho, theta, threshold, param1, param2, linesCount, linesCount !=
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
//霍夫圆变换
private
string HoughCirclesFeatureDetect()
{
//获取参数
double
dp =
double.Parse(txtHoughCirclesDp.Text);
double minDist
=
double.Parse(txtHoughCirclesMinDist.Text);
double param1
=
double.Parse(txtHoughCirclesParam1.Text);
double param2
=
double.Parse(txtHoughCirclesParam2.Text);
int minRadius
=
int.Parse(txtHoughCirclesMinRadius.Text);
int maxRadius
=
int.Parse(txtHoughCirclesMaxRadius.Text);
StringBuilder sbResult =
new StringBuilder();
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
CircleF[][] circles = imageSourceGrayscale.HoughCircles(new
Gray(param1), new
Gray(param2), dp, minDist, minRadius, maxRadius);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
int circlesCount
=
0;
foreach (CircleF[]
cs in circles)
{
foreach (CircleF
circle in cs)
{
imageResult.Draw(circle, new
Bgr(255d, 0d, 0d), 4);
sbResult.AppendFormat("圆心{0}半径{1}，",
circle.Center, circle.Radius);
circlesCount++;
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·霍夫圆变换，用时{0:F05}毫秒，参数（累加器图像的最小分辨率：{1}，不同圆之间的最小距离：{2}，边缘阀值：{3}，累加器阀值：{4}，最小圆半径：{5}，最大圆半径：{6}），找到{7}个圆\r\n{8}",
sw.Elapsed.TotalMilliseconds, dp, minDist, param1, param2, minRadius, maxRadius, circlesCount, sbResult.Length
>
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
Harris角点
cvCornerHarris函数检测的结果实际上是一幅包含Harris角点的浮点型单通道图像，可以使用类似下面的代码来计算包含Harris角点的图像：
//Harris角点
private
string CornerHarrisFeatureDetect()
{
//获取参数
int
blockSize =
int.Parse(txtCornerHarrisBlockSize.Text);
int apertureSize
=
int.Parse(txtCornerHarrisApertureSize.Text);
double k
=
double.Parse(txtCornerHarrisK.Text);
//计算
Image<Gray,
Single> imageDest
=
new Image<Gray,
float>(imageSourceGrayscale.Size);
Stopwatch sw =
new Stopwatch();
sw.Start();
CvInvoke.cvCornerHarris(imageSourceGrayscale.Ptr, imageDest.Ptr, blockSize, apertureSize, k);
sw.Stop();
//显示
pbResult.Image
= imageDest.Bitmap;
//释放资源
imageDest.Dispose();
//返回
return
string.Format("·Harris角点，用时{0:F05}毫秒，参数（邻域大小：{1}，方形滤波器宽度：{2}，权重系数：{3}）\r\n",
sw.Elapsed.TotalMilliseconds, blockSize, apertureSize, k);
}
如果要计算Harris角点列表，需要使用cvGoodFeatureToTrack函数，并传递适当的参数。
ShiTomasi角点
在默认情况下，cvGoodFeatureToTrack函数计算ShiTomasi角点；不过如果将参数use_harris设置为非0值，那么它会计算harris角点。
使用cvGoodFeatureToTrack函数的示例代码如下：
//ShiTomasi角点
private
string CornerShiTomasiFeatureDetect()
{
//获取参数
int
cornerCount =
int.Parse(txtGoodFeaturesCornerCount.Text);
double qualityLevel
=
double.Parse(txtGoodFeaturesQualityLevel.Text);
double minDistance
=
double.Parse(txtGoodFeaturesMinDistance.Text);
int blockSize
=
int.Parse(txtGoodFeaturesBlockSize.Text);
bool useHarris
= cbGoodFeaturesUseHarris.Checked;
double k
=
double.Parse(txtGoodFeaturesK.Text);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
PointF[][] corners = imageSourceGrayscale.GoodFeaturesToTrack(cornerCount,
qualityLevel, minDistance, blockSize, useHarris, k);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
int cornerCount2
=
0;
StringBuilder sbResult =
new StringBuilder();
int radius
= (int)(minDistance
/
2)
+
1;
int thickness
= (int)(minDistance
/
4)
+
1;
foreach (PointF[]
cs in corners)
{
foreach (PointF
p in cs)
{
imageResult.Draw(new
CircleF(p, radius), new
Bgr(255d, 0d, 0d), thickness);
cornerCount2++;
sbResult.AppendFormat("{0}，",
p);
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·ShiTomasi角点，用时{0:F05}毫秒，参数（最大角点数目：{1}，最小特征值：{2}，角点间的最小距离：{3}，邻域大小：{4}，角点类型：{5}，权重系数：{6}），检测到{7}个角点\r\n{8}",
sw.Elapsed.TotalMilliseconds, cornerCount, qualityLevel, minDistance, blockSize, useHarris
?
"Harris"
: "ShiTomasi",
k, cornerCount2, cornerCount2 >
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
亚像素级角点
在检测亚像素级角点前，需要提供角点的初始为止，这些初始位置可以用本文给出的其他的角点检测方式来获取，不过使用GoodFeaturesToTrack得到的结果最方便直接使用。
亚像素级角点检测的示例代码如下：
//亚像素级角点
private
string CornerSubPixFeatureDetect()
{
//获取参数
int
winWidth =
int.Parse(txtCornerSubPixWinWidth.Text);
int winHeight
=
int.Parse(txtCornerSubPixWinHeight.Text);
Size win =
new Size(winWidth,
winHeight);
int zeroZoneWidth
=
int.Parse(txtCornerSubPixZeroZoneWidth.Text);
int zeroZoneHeight
=
int.Parse(txtCornerSubPixZeroZoneHeight.Text);
Size zeroZone =
new Size(zeroZoneWidth,
zeroZoneHeight);
int maxIter=int.Parse(txtCornerSubPixMaxIter.Text);
double epsilon=double.Parse(txtCornerSubPixEpsilon.Text);
MCvTermCriteria criteria =
new MCvTermCriteria(maxIter,
epsilon);
//先计算得到易于跟踪的点（ShiTomasi角点）
int
cornerCount =
int.Parse(txtGoodFeaturesCornerCount.Text);
double qualityLevel
=
double.Parse(txtGoodFeaturesQualityLevel.Text);
double minDistance
=
double.Parse(txtGoodFeaturesMinDistance.Text);
int blockSize
=
int.Parse(txtGoodFeaturesBlockSize.Text);
bool useHarris
= cbGoodFeaturesUseHarris.Checked;
double k
=
double.Parse(txtGoodFeaturesK.Text);
PointF[][] corners = imageSourceGrayscale.GoodFeaturesToTrack(cornerCount,
qualityLevel, minDistance, blockSize, useHarris, k);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
imageSourceGrayscale.FindCornerSubPix(corners, win, zeroZone, criteria);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
int cornerCount2
=
0;
StringBuilder sbResult =
new StringBuilder();
int radius
= (int)(minDistance
/
2)
+
1;
int thickness
= (int)(minDistance
/
4)
+
1;
foreach (PointF[]
cs in corners)
{
foreach (PointF
p in cs)
{
imageResult.Draw(new
CircleF(p, radius), new
Bgr(255d, 0d, 0d), thickness);
cornerCount2++;
sbResult.AppendFormat("{0}，",
p);
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·亚像素级角点，用时{0:F05}毫秒，参数（搜索窗口：{1}，死区：{2}，最大迭代次数：{3}，亚像素值的精度：{4}），检测到{5}个角点\r\n{6}",
sw.Elapsed.TotalMilliseconds, win, zeroZone, maxIter, epsilon, cornerCount2, cornerCount2
>
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
SURF角点
OpenCv中的cvExtractSURF函数和EmguCv中的Image<TColor,TDepth>.ExtractSURF方法用于检测SURF角点。
SURF角点检测的示例代码如下：
//SURF角点
private
string SurfFeatureDetect()
{
//获取参数
bool
getDescriptors = cbSurfGetDescriptors.Checked;
MCvSURFParams surfParam =
new MCvSURFParams();
surfParam.extended=rbSurfBasicDescriptor.Checked
?
0 :
1;
surfParam.hessianThreshold=double.Parse(txtSurfHessianThreshold.Text);
surfParam.nOctaves=int.Parse(txtSurfNumberOfOctaves.Text);
surfParam.nOctaveLayers=int.Parse(txtSurfNumberOfOctaveLayers.Text);
//计算
SURFFeature[] features
=
null;
MKeyPoint[] keyPoints =
null;
Stopwatch sw =
new Stopwatch();
sw.Start();
if (getDescriptors)
features = imageSourceGrayscale.ExtractSURF(ref
surfParam);
else
keyPoints = surfParam.DetectKeyPoints(imageSourceGrayscale,
null);
sw.Stop();
//显示
bool
showDetail = cbSurfShowDetail.Checked;
Image<Bgr, Byte>
imageResult = imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
if (getDescriptors)
{
foreach (SURFFeature
feature in features)
{
imageResult.Draw(new
CircleF(feature.Point.pt, 5),
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
{
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，方向：{3}°，hessian值：{4}，拉普拉斯标志：{5}，描述：[",
idx, feature.Point.pt, feature.Point.size, feature.Point.dir, feature.Point.hessian, feature.Point.laplacian);
foreach (float
d in feature.Descriptor)
sbResult.AppendFormat("{0},",
d);
sbResult.Append("]），");
}
idx++;
}
}
else
{
foreach (MKeyPoint
keypoint in keyPoints)
{
imageResult.Draw(new
CircleF(keypoint.Point, 5),
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，方向：{3}°，响应：{4}，octave：{5}），",
idx, keypoint.Point, keypoint.Size, keypoint.Angle, keypoint.Response, keypoint.Octave);
idx++;
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·SURF角点，用时{0:F05}毫秒，参数（描述：{1}，hessian阀值：{2}，octave数目：{3}，每个octave的层数：{4}，检测到{5}个角点\r\n{6}",
sw.Elapsed.TotalMilliseconds, getDescriptors ?
(surfParam.extended ==
0
?
"获取基本描述"
: "获取扩展描述")
: "不获取描述",
surfParam.hessianThreshold,
surfParam.nOctaves, surfParam.nOctaveLayers, getDescriptors ?
features.Length : keyPoints.Length, showDetail ?
sbResult.ToString() +
"\r\n"
: "");
}
Star关键点
OpenCv中的cvGetStarKeypoints函数和EmguCv中的Image<TColor,TDepth>.GetStarKeypoints方法用于检测“星型”附近的点。
Star关键点检测的示例代码如下：
//Star关键点
private
string StarKeyPointFeatureDetect()
{
//获取参数
StarDetector starParam
=
new StarDetector();
starParam.MaxSize =
int.Parse((string)cmbStarMaxSize.SelectedItem);
starParam.ResponseThreshold =
int.Parse(txtStarResponseThreshold.Text);
starParam.LineThresholdProjected =
int.Parse(txtStarLineThresholdProjected.Text);
starParam.LineThresholdBinarized =
int.Parse(txtStarLineThresholdBinarized.Text);
starParam.SuppressNonmaxSize =
int.Parse(txtStarSuppressNonmaxSize.Text);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
MCvStarKeypoint[] keyPoints = imageSourceGrayscale.GetStarKeypoints(ref
starParam);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
foreach (MCvStarKeypoint
keypoint in keyPoints)
{
imageResult.Draw(new
CircleF(new PointF(keypoint.pt.X,
keypoint.pt.Y), keypoint.size /
2),
new Bgr(255d, 0d,
0d), keypoint.size /
4);
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，强度：{3}），",
idx, keypoint.pt, keypoint.size, keypoint.response);
idx++;
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·Star关键点，用时{0:F05}毫秒，参数（MaxSize：{1}，ResponseThreshold：{2}，LineThresholdProjected：{3}，LineThresholdBinarized：{4}，SuppressNonmaxSize：{5}），检测到{6}个关键点\r\n{7}",
sw.Elapsed.TotalMilliseconds, starParam.MaxSize, starParam.ResponseThreshold, starParam.LineThresholdProjected, starParam.LineThresholdBinarized, starParam.SuppressNonmaxSize, keyPoints.Length, keyPoints.Length
>
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
FAST角点检测
FAST角点由E. Rosten教授提出，相比其他检测手段，这种方法的速度正如其名，相当的快。值得关注的是他所研究的理论都是属于实用类的，都很快。Rosten教授实现了FAST角点检测，并将其提供给了OpenCv，相当的有爱呀；不过OpenCv中的函数和Rosten教授的实现似乎有点点不太一样。遗憾的是，OpenCv中目前还没有FAST角点检测的文档。下面是我从Rosten的代码中找到的函数声明，可以看到粗略的参数说明。
/*
The references are:
* Machine learning for high-speed corner detection,
E. Rosten and T. Drummond, ECCV 2006
* Faster and better: A machine learning approach to corner detection
E. Rosten, R. Porter and T. Drummond, PAMI, 2009
*/
void cvCornerFast( const CvArr* image, int threshold, int N,
int nonmax_suppression, int* ret_number_of_corners,
CvPoint** ret_corners);
image: OpenCV image in which to detect corners. Must be 8 bit unsigned.
threshold: Threshold for detection (higher is fewer corners). 0--255
N: Arc length of detector, 9, 10, 11 or 12. 9 is usually best.
nonmax_suppression: Whether to perform nonmaximal suppression.
ret_number_of_corners: The number of detected corners is returned here.
ret_corners: The corners are returned here.
EmguCv中的Image<TColor,TDepth>.GetFASTKeypoints方法也实现了FAST角点检测，不过参数少了一些，只有threshold和nonmaxSupression，其中N我估计取的默认值9，但是返回的角点数目我不知道是怎么设置的。
使用FAST角点检测的示例代码如下：
//FAST关键点
private
string FASTKeyPointFeatureDetect()
{
//获取参数
int
threshold =
int.Parse(txtFASTThreshold.Text);
bool nonmaxSuppression
= cbFASTNonmaxSuppression.Checked;
bool showDetail
= cbFASTShowDetail.Checked;
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
MKeyPoint[] keyPoints = imageSourceGrayscale.GetFASTKeypoints(threshold,
nonmaxSuppression);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
foreach (MKeyPoint
keypoint in keyPoints)
{
imageResult.Draw(new
CircleF(keypoint.Point, (int)(keypoint.Size
/
2)),
new Bgr(255d, 0d,
0d), (int)(keypoint.Size
/
4));
if (showDetail)
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，方向：{3}°，响应：{4}，octave：{5}），",
idx, keypoint.Point, keypoint.Size, keypoint.Angle, keypoint.Response, keypoint.Octave);
idx++;
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·FAST关键点，用时{0:F05}毫秒，参数（阀值：{1}，nonmaxSupression：{2}），检测到{3}个关键点\r\n{4}",
sw.Elapsed.TotalMilliseconds, threshold, nonmaxSuppression, keyPoints.Length, showDetail
? (sbResult.ToString()
+
"\r\n")
: "");
}
Lepetit关键点
Lepetit关键点由Vincent Lepetit提出，可以在他的网站（http://cvlab.epfl.ch/~vlepetit/）上看到相关的论文等资料。EmguCv中的类LDetector实现了Lepetit关键点的检测。
使用Lepetit关键点检测的示例代码如下：
//Lepetit关键点
private
string LepetitKeyPointFeatureDetect()
{
//获取参数
LDetector lepetitDetector
=
new LDetector();
lepetitDetector.BaseFeatureSize =
double.Parse(txtLepetitBaseFeatureSize.Text);
lepetitDetector.ClusteringDistance =
double.Parse(txtLepetitClasteringDistance.Text);
lepetitDetector.NOctaves =
int.Parse(txtLepetitNumberOfOctaves.Text);
lepetitDetector.NViews =
int.Parse(txtLepetitNumberOfViews.Text);
lepetitDetector.Radius =
int.Parse(txtLepetitRadius.Text);
lepetitDetector.Threshold =
int.Parse(txtLepetitThreshold.Text);
lepetitDetector.Verbose = cbLepetitVerbose.Checked;
int maxCount
=
int.Parse(txtLepetitMaxCount.Text);
bool scaleCoords
= cbLepetitScaleCoords.Checked;
bool showDetail
= cbLepetitShowDetail.Checked;
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
MKeyPoint[] keyPoints = lepetitDetector.DetectKeyPoints(imageSourceGrayscale,
maxCount, scaleCoords);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
foreach (MKeyPoint
keypoint in keyPoints)
{
//imageResult.Draw(new
CircleF(keypoint.Point, (int)(keypoint.Size / 2)), new Bgr(255d, 0d, 0d), (int)(keypoint.Size / 4));
imageResult.Draw(new
CircleF(keypoint.Point, 4),
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，方向：{3}°，响应：{4}，octave：{5}），",
idx, keypoint.Point, keypoint.Size, keypoint.Angle, keypoint.Response, keypoint.Octave);
idx++;
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·Lepetit关键点，用时{0:F05}毫秒，参数（基础特征尺寸：{1}，集群距离：{2}，阶数：{3}，视图数：{4}，半径：{5}，阀值：{6}，计算详细结果：{7}，最大关键点数目：{8}，缩放坐标：{9}），检测到{10}个关键点\r\n{11}",
sw.Elapsed.TotalMilliseconds, lepetitDetector.BaseFeatureSize, lepetitDetector.ClusteringDistance, lepetitDetector.NOctaves, lepetitDetector.NViews,
lepetitDetector.Radius, lepetitDetector.Threshold, lepetitDetector.Verbose, maxCount, scaleCoords, keyPoints.Length, showDetail
? (sbResult.ToString()
+
"\r\n")
: "");
}
SIFT角点
SIFT角点是一种广泛使用的图像特征，可用于物体跟踪、图像匹配、图像拼接等领域，然而奇怪的是它并未被OpenCv实现。提出SIFT角点的David Lowe教授已经用C和matlab实现了SIFT角点的检测，并开放了源代码，不过他的实现不方便直接使用。您可以在http://www.cs.ubc.ca/~lowe/keypoints/看到SIFT的介绍、相关论文及David
Lowe教授的实现代码。下面我要介绍由Andrea Vedaldi和Brian Fulkerson先生创建的vlfeat开源图像处理库，vlfeat库有C和matlab两种实现，其中包含了SIFT检测。您可以在http://www.vlfeat.org/下载到vlfeat库的代码、文档及可执行文件。
使用vlfeat检测SIFT角点需要以下步骤：
（1）用函数vl_sift_new()初始化SIFT过滤器对象，该过滤器对象可以反复用于多幅尺寸相同的图像；
（2）用函数vl_sift_first_octave()及vl_sift_process_next()遍历缩放空间的每一阶，直到返回VL_ERR_EOF为止；
（3）对于缩放空间的每一阶，用函数vl_sift_detect()来获取关键点；
（4）对每个关键点，用函数vl_sift_calc_keypoint_orientations()来获取该点的方向；
（5）对关键点的每个方向，用函数vl_sift_calc_keypoint_descriptor()来获取该方向的描述；
（6）使用完之后，用函数vl_sift_delete()来释放资源；
（7）如果要计算某个自定义关键点的描述，可以使用函数vl_sift_calc_raw_descriptor()。
直接使用vlfeat中的SIFT角点检测示例代码如下：
//通过P/Invoke调用vlfeat函数来进行SIFT检测
unsafe
private
string SiftFeatureDetectByPinvoke(int
noctaves, int
nlevels, int o_min,
bool showDetail)
{
StringBuilder sbResult =
new StringBuilder();
//初始化
IntPtr ptrSiftFilt
= VlFeatInvoke.vl_sift_new(imageSource.Width,
imageSource.Height, noctaves, nlevels, o_min);
if (ptrSiftFilt
== IntPtr.Zero)
return
"Sift特征检测：初始化失败。";
//处理
Image<Gray,
Single> imageSourceSingle
= imageSourceGrayscale.ConvertScale<Single>(1d,
0d);
Image<Bgr, Byte>
imageResult = imageSourceGrayscale.Convert<Bgr,
Byte>();
int pointCount
=
0;
int idx
=
0;
//依次遍历每一组
if
(VlFeatInvoke.vl_sift_process_first_octave(ptrSiftFilt, imageSourceSingle.MIplImage.imageData)
!= VlFeatInvoke.VL_ERR_EOF)
{
while (true)
{
//计算每组中的关键点
VlFeatInvoke.vl_sift_detect(ptrSiftFilt);
//遍历并绘制每个点
VlSiftFilt siftFilt
= (VlSiftFilt)Marshal.PtrToStructure(ptrSiftFilt,
typeof(VlSiftFilt));
pointCount += siftFilt.nkeys;
VlSiftKeypoint* pKeyPoints
= (VlSiftKeypoint*)siftFilt.keys.ToPointer();
for (int
i =
0; i
< siftFilt.nkeys; i++)
{
VlSiftKeypoint keyPoint =
*pKeyPoints;
pKeyPoints++;
imageResult.Draw(new
CircleF(new PointF(keyPoint.x,
keyPoint.y), keyPoint.sigma /
2),
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
sbResult.AppendFormat("第{0}点，坐标：({1},{2})，阶：{3}，缩放：{4}，s：{5}，",
idx, keyPoint.x, keyPoint.y, keyPoint.o, keyPoint.sigma, keyPoint.s);
idx++;
//计算并遍历每个点的方向
double[]
angles =
new
double[4];
int angleCount
= VlFeatInvoke.vl_sift_calc_keypoint_orientations(ptrSiftFilt,
angles, ref keyPoint);
if (showDetail)
sbResult.AppendFormat("共{0}个方向，",
angleCount);
for (int
j =
0; j
< angleCount; j++)
{
double angle
= angles[j];
if (showDetail)
sbResult.AppendFormat("【方向：{0}，描述：",
angle);
//计算每个方向的描述
IntPtr ptrDescriptors
= Marshal.AllocHGlobal(128
*
sizeof(float));
VlFeatInvoke.vl_sift_calc_keypoint_descriptor(ptrSiftFilt, ptrDescriptors,
ref keyPoint, angle);
float*
pDescriptors = (float*)ptrDescriptors.ToPointer();
for (int
k =
0; k
<
128; k++)
{
float descriptor
=
*pDescriptors;
pDescriptors++;
if (showDetail)
sbResult.AppendFormat("{0},",
descriptor);
}
sbResult.Append("】，");
Marshal.FreeHGlobal(ptrDescriptors);
}
}
//下一阶
if
(VlFeatInvoke.vl_sift_process_next_octave(ptrSiftFilt) ==
VlFeatInvoke.VL_ERR_EOF)
break;
}
}
//显示
pbResult.Image
= imageResult.Bitmap;
//释放资源
VlFeatInvoke.vl_sift_delete(ptrSiftFilt);
imageSourceSingle.Dispose();
imageResult.Dispose();
//返回
return
string.Format("·SIFT特征检测(P/Invoke)，用时：未统计，参数（阶数：{0}，每阶层数：{1}，最小阶索引：{2}），{3}个关键点\r\n{4}",
noctaves, nlevels, o_min, pointCount, showDetail ?
(sbResult.ToString() +
"\r\n")
: "");
}
要在.net中使用vlfeat还是不够方便，为此我对vlfeat中的SIFT角点检测部分进行了封装，将相关操作放到了类SiftDetector中。
使用SiftDetector需要两至三步：
（1）用构造函数初始化SiftDetector对象；
（2）用Process方法计算特征；
（3）视需要调用Dispose方法释放资源，或者等待垃圾回收器来自动释放资源。
使用SiftDetector的示例代码如下：
通过dotnet封装的SiftDetector类来进行SIFT检测
对vlfeat库中的SIFT部分封装代码如下所示：
using
System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Runtime.InteropServices;
namespace ImageProcessLearn
{
[StructLayoutAttribute(LayoutKind.Sequential)]
public
struct VlSiftKeypoint
{
///
int
public
int o;
///
int
public
int ix;
///
int
public
int iy;
///
int
public
int @is;
///
float
public
float x;
///
float
public
float y;
///
float
public
float s;
///
float
public
float sigma;
}
[StructLayoutAttribute(LayoutKind.Sequential)]
public
struct VlSiftFilt
{
///
double
public
double sigman;
///
double
public
double sigma0;
///
double
public
double sigmak;
///
double
public
double dsigma0;
///
int
public
int width;
///
int
public
int height;
///
int
public
int O;
///
int
public
int S;
///
int
public
int o_min;
///
int
public
int s_min;
///
int
public
int s_max;
///
int
public
int o_cur;
///
vl_sift_pix*
public
System.IntPtr temp;
///
vl_sift_pix*
public
System.IntPtr octave;
///
vl_sift_pix*
public
System.IntPtr dog;
///
int
public
int octave_width;
///
int
public
int octave_height;
///
VlSiftKeypoint*
public
System.IntPtr keys;
///
int
public
int nkeys;
///
int
public
int keys_res;
///
double
public
double peak_thresh;
///
double
public
double edge_thresh;
///
double
public
double norm_thresh;
///
double
public
double magnif;
///
double
public
double windowSize;
///
vl_sift_pix*
public
System.IntPtr grad;
///
int
public
int grad_o;
///
<summary>
///
获取SiftFilt指针；
///
注意在使用完指针之后，需要用Marshal.FreeHGlobal释放内存。
///
</summary>
///
<returns></returns>
unsafe
public IntPtr GetPtrOfVlSiftFilt()
{
IntPtr ptrSiftFilt = Marshal.AllocHGlobal(sizeof(VlSiftFilt));
Marshal.StructureToPtr(this,
ptrSiftFilt, true);
return ptrSiftFilt;
}
}
public
class VlFeatInvoke
{
///
VL_ERR_MSG_LEN -> 1024
public
const
int VL_ERR_MSG_LEN
=
1024;
///
VL_ERR_OK -> 0
public
const
int VL_ERR_OK
=
0;
///
VL_ERR_OVERFLOW -> 1
public
const
int VL_ERR_OVERFLOW
=
1;
///
VL_ERR_ALLOC -> 2
public
const
int VL_ERR_ALLOC
=
2;
///
VL_ERR_BAD_ARG -> 3
public
const
int VL_ERR_BAD_ARG
=
3;
///
VL_ERR_IO -> 4
public
const
int VL_ERR_IO
=
4;
///
VL_ERR_EOF -> 5
public
const
int VL_ERR_EOF
=
5;
///
VL_ERR_NO_MORE -> 5
public
const
int VL_ERR_NO_MORE
=
5;
///
Return Type: VlSiftFilt*
///width:
int
///height:
int
///noctaves:
int
///nlevels:
int
///o_min:
int
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_new")]
public
static
extern System.IntPtr
vl_sift_new(int
width, int height,
int noctaves,
int nlevels,
int o_min);
///
Return Type: void
///f:
VlSiftFilt*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_delete")]
public
static
extern
void vl_sift_delete(IntPtr
f);
///
Return Type: int
///f:
VlSiftFilt*
///im:
vl_sift_pix*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_process_first_octave")]
public
static
extern
int vl_sift_process_first_octave(IntPtr
f, IntPtr im);
///
Return Type: int
///f:
VlSiftFilt*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_process_next_octave")]
public
static
extern
int vl_sift_process_next_octave(IntPtr
f);
///
Return Type: void
///f:
VlSiftFilt*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_detect")]
public
static
extern
void vl_sift_detect(IntPtr
f);
///
Return Type: int
///f:
VlSiftFilt*
///angles:
double*
///k:
VlSiftKeypoint*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_calc_keypoint_orientations")]
public
static
extern
int vl_sift_calc_keypoint_orientations(IntPtr
f, double[] angles,
ref VlSiftKeypoint
k);
///
Return Type: void
///f:
VlSiftFilt*
///descr:
vl_sift_pix*
///k:
VlSiftKeypoint*
///angle:
double
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_calc_keypoint_descriptor")]
public
static
extern
void vl_sift_calc_keypoint_descriptor(IntPtr
f, IntPtr descr, ref
VlSiftKeypoint k, double
angle);
///
Return Type: void
///f:
VlSiftFilt*
///image:
vl_sift_pix*
///descr:
vl_sift_pix*
///widht:
int
///height:
int
///x:
double
///y:
double
///s:
double
///angle0:
double
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_calc_raw_descriptor")]
public
static
extern
void vl_sift_calc_raw_descriptor(IntPtr
f, IntPtr image, IntPtr descr, int
widht, int height,
double x,
double y,
double s,
double angle0);
///
Return Type: void
///f:
VlSiftFilt*
///k:
VlSiftKeypoint*
///x:
double
///y:
double
///sigma:
double
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_keypoint_init")]
public
static
extern
void vl_sift_keypoint_init(IntPtr
f, ref VlSiftKeypoint
k, double x,
double y,
double sigma);
}
}
SiftDetector类的实现代码如下所示：
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Drawing;
using System.Runtime.InteropServices;
using Emgu.CV;
using Emgu.CV.Structure;
namespace ImageProcessLearn
{
///
<summary>
///
SIFT检测器
///
</summary>
public
class SiftDetector
: IDisposable
{
//成员变量
private
IntPtr ptrSiftFilt;
//属性
///
<summary>
///
SiftFilt指针
///
</summary>
public
IntPtr PtrSiftFilt
{
get
{
return ptrSiftFilt;
}
}
///
<summary>
///
获取SIFT检测器中的SiftFilt
///
</summary>
public
VlSiftFilt SiftFilt
{
get
{
return (VlSiftFilt)Marshal.PtrToStructure(ptrSiftFilt,
typeof(VlSiftFilt));
}
}
///
<summary>
///
构造函数
///
</summary>
///
<param name="width">图像的宽度</param>
///
<param name="height">图像的高度</param>
///
<param name="noctaves">阶数</param>
///
<param name="nlevels">每一阶的层数</param>
///
<param name="o_min">最小阶的索引</param>
public
SiftDetector(int
width, int height,
int noctaves,
int nlevels,
int o_min)
{
ptrSiftFilt = VlFeatInvoke.vl_sift_new(width,
height, noctaves, nlevels, o_min);
}
public SiftDetector(int
width, int height)
: this(width, height,
4,
2,
0)
{ }
public SiftDetector(Size
size, int noctaves,
int nlevels,
int o_min)
: this(size.Width,
size.Height, noctaves, nlevels, o_min)
{ }
public SiftDetector(Size
size)
: this(size.Width,
size.Height, 4,
2,
0)
{ }
///
<summary>
///
进行SIFT检测，并返回检测的结果
///
</summary>
///
<param name="im">单通道浮点型图像数据，图像数据不必归一化到区间[0,1]</param>
///
<param name="resultType">SIFT检测的结果类型</param>
///
<returns>返回SIFT检测结果——SIFT特征列表；如果检测失败，返回null。</returns>
unsafe
public List<SiftFeature>
Process(IntPtr im, SiftDetectorResultType resultType)
{
//定义变量
List<SiftFeature>
features =
null;
//检测结果：SIFT特征列表
VlSiftFilt siftFilt;
//
VlSiftKeypoint*
pKeyPoints; //指向关键点的指针
VlSiftKeypoint keyPoint;
//关键点
SiftKeyPointOrientation[] orientations;
//关键点对应的方向及描述
double[]
angles =
new
double[4];
//关键点对应的方向（角度）
int
angleCount; //某个关键点的方向数目
double
angle; //方向
float[]
descriptors; //关键点某个方向的描述
IntPtr ptrDescriptors
= Marshal.AllocHGlobal(128
*
sizeof(float));
//指向描述的缓冲区指针
//依次遍历每一阶
if
(VlFeatInvoke.vl_sift_process_first_octave(ptrSiftFilt, im) !=
VlFeatInvoke.VL_ERR_EOF)
{
features =
new List<SiftFeature>(100);
while (true)
{
//计算每组中的关键点
VlFeatInvoke.vl_sift_detect(ptrSiftFilt);
//遍历每个点
siftFilt
= (VlSiftFilt)Marshal.PtrToStructure(ptrSiftFilt,
typeof(VlSiftFilt));
pKeyPoints = (VlSiftKeypoint*)siftFilt.keys.ToPointer();
for (int
i =
0; i
< siftFilt.nkeys; i++)
{
keyPoint =
*pKeyPoints;
pKeyPoints++;
orientations =
null;
if (resultType
== SiftDetectorResultType.Normal
|| resultType
== SiftDetectorResultType.Extended)
{
//计算并遍历每个点的方向
angleCount
= VlFeatInvoke.vl_sift_calc_keypoint_orientations(ptrSiftFilt,
angles, ref keyPoint);
orientations =
new SiftKeyPointOrientation[angleCount];
for (int
j =
0; j
< angleCount; j++)
{
angle = angles[j];
descriptors =
null;
if (resultType
== SiftDetectorResultType.Extended)
{
//计算每个方向的描述
VlFeatInvoke.vl_sift_calc_keypoint_descriptor(ptrSiftFilt, ptrDescriptors,
ref keyPoint, angle);
descriptors =
new
float[128];
Marshal.Copy(ptrDescriptors, descriptors, 0,
128);
}
orientations[j] =
new SiftKeyPointOrientation(angle,
descriptors); //保存关键点方向和描述
}
}
features.Add(new
SiftFeature(keyPoint, orientations)); //将得到的特征添加到列表中
}
//下一阶
if
(VlFeatInvoke.vl_sift_process_next_octave(ptrSiftFilt) ==
VlFeatInvoke.VL_ERR_EOF)
break;
}
}
//释放资源
Marshal.FreeHGlobal(ptrDescriptors);
//返回
return
features;
}
///
<summary>
///
进行基本的SIFT检测，并返回关键点列表
///
</summary>
///
<param name="im">单通道浮点型图像数据，图像数据不必归一化到区间[0,1]</param>
///
<returns>返回关键点列表；如果获取失败，返回null。</returns>
public
List<SiftFeature>
Process(IntPtr im)
{
return Process(im,
SiftDetectorResultType.Basic);
}
///
<summary>
///
进行SIFT检测，并返回检测的结果
///
</summary>
///
<param name="image">图像</param>
///
<param name="resultType">SIFT检测的结果类型</param>
///
<returns>返回SIFT检测结果——SIFT特征列表；如果检测失败，返回null。</returns>
public
List<SiftFeature>
Process(Image<Gray, Single>
image, SiftDetectorResultType resultType)
{
if (image.Width
!= SiftFilt.width
|| image.Height
!= SiftFilt.height)
throw
new ArgumentException("图像的尺寸和构造函数中指定的尺寸不一致。",
"image");
return Process(image.MIplImage.imageData,
resultType);
}
///
<summary>
///
进行基本的SIFT检测，并返回检测的结果
///
</summary>
///
<param name="image">图像</param>
///
<returns>返回SIFT检测结果——SIFT特征列表；如果检测失败，返回null。</returns>
public
List<SiftFeature>
Process(Image<Gray, Single>
image)
{
return Process(image,
SiftDetectorResultType.Basic);
}
///
<summary>
///
释放资源
///
</summary>
public
void Dispose()
{
if (ptrSiftFilt
!= IntPtr.Zero)
VlFeatInvoke.vl_sift_delete(ptrSiftFilt);
}
}
///
<summary>
///
SIFT特征
///
</summary>
public
struct SiftFeature
{
public VlSiftKeypoint
keypoint; //关键点
public
SiftKeyPointOrientation[] keypointOrientations; //关键点的方向及方向对应的描述
public SiftFeature(VlSiftKeypoint
keypoint)
: this(keypoint,
null)
{
}
public SiftFeature(VlSiftKeypoint
keypoint, SiftKeyPointOrientation[] keypointOrientations)
{
this.keypoint
= keypoint;
this.keypointOrientations
= keypointOrientations;
}
}
///
<summary>
///
Sift关键点的方向及描述
///
</summary>
public
struct SiftKeyPointOrientation
{
public
double angle;
//方向
public
float[] descriptors;
//描述
public SiftKeyPointOrientation(double
angle)
: this(angle,
null)
{
}
public SiftKeyPointOrientation(double
angle, float[]
descriptors)
{
this.angle
= angle;
this.descriptors
= descriptors;
}
}
///
<summary>
///
SIFT检测的结果
///
</summary>
public
enum SiftDetectorResultType
{
Basic, //基本：仅包含关键点
Normal,
//正常：包含关键点、方向
Extended
//扩展：包含关键点、方向以及描述
}
}
MSER区域
OpenCv中的函数cvExtractMSER以及EmguCv中的Image<TColor,TDepth>.ExtractMSER方法实现了MSER区域的检测。由于OpenCv的文档中目前还没有cvExtractMSER这一部分，大家如果要看文档的话，可以先去看EmguCv的文档。
需要注意的是MSER区域的检测结果是区域中所有的点序列。例如检测到3个区域，其中一个区域是从(0,0)到(2,1)的矩形，那么结果点序列为：(0,0),(1,0),(2,0),(2,1),(1,1),(0,1)。
MSER区域检测的示例代码如下：
//MSER（区域）特征检测
private
string MserFeatureDetect()
{
//获取参数
MCvMSERParams mserParam
=
new MCvMSERParams();
mserParam.delta =
int.Parse(txtMserDelta.Text);
mserParam.maxArea =
int.Parse(txtMserMaxArea.Text);
mserParam.minArea =
int.Parse(txtMserMinArea.Text);
mserParam.maxVariation =
float.Parse(txtMserMaxVariation.Text);
mserParam.minDiversity =
float.Parse(txtMserMinDiversity.Text);
mserParam.maxEvolution =
int.Parse(txtMserMaxEvolution.Text);
mserParam.areaThreshold =
double.Parse(txtMserAreaThreshold.Text);
mserParam.minMargin =
double.Parse(txtMserMinMargin.Text);
mserParam.edgeBlurSize =
int.Parse(txtMserEdgeBlurSize.Text);
bool showDetail
= cbMserShowDetail.Checked;
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
MemStorage storage =
new MemStorage();
Seq<Point>[]
regions = imageSource.ExtractMSER(null,
ref mserParam,
storage);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
foreach (Seq<Point>
region in regions)
{
imageResult.DrawPolyline(region.ToArray(), true,
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
{
sbResult.AppendFormat("第{0}区域，包含{1}个顶点（",
idx, region.Total);
foreach (Point
pt in region)
sbResult.AppendFormat("{0},",
pt);
sbResult.Append("）\r\n");
}
idx++;
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
storage.Dispose();
//返回
return
string.Format("·MSER区域，用时{0:F05}毫秒，参数（delta：{1}，maxArea：{2}，minArea：{3}，maxVariation：{4}，minDiversity：{5}，maxEvolution：{6}，areaThreshold：{7}，minMargin：{8}，edgeBlurSize：{9}），检测到{10}个区域\r\n{11}",
sw.Elapsed.TotalMilliseconds, mserParam.delta, mserParam.maxArea, mserParam.minArea, mserParam.maxVariation, mserParam.minDiversity,
mserParam.maxEvolution, mserParam.areaThreshold, mserParam.minMargin, mserParam.edgeBlurSize, regions.Length, showDetail
? sbResult.ToString() :
"");
}
各种特征检测方法性能对比
上面介绍了这么多的特征检测方法，那么它们的性能到底如何呢？因为它们的参数设置对处理时间及结果的影响很大，我们在这里基本都使用默认参数处理同一幅图像。在我机器上的处理结果见下表：
（图片尺寸：583x301，处理器：AMD ATHLON IIx2 240，内存：DDR3 4G，显卡：GeForce 9500GT，操作系统：Windows 7）
感谢您耐心看完本文，希望对您有所帮助。
下一篇文章我们将一起看看如何来跟踪本文讲到的特征点（角点）。
=========================================================
前言
图像特征提取是计算机视觉和图像处理中的一个概念。它指的是使用计算机提取图像信息，决定每个图像的点是否属于一个图像特征。本文主要探讨如何提取图像中的“角点”这一特征，及其相关的内容。而诸如直方图、边缘、区域等内容在前文中有所提及，请查看相关文章。OpenCv（EmguCv）中实现了多种角点特征的提取方法，包括：Harris角点、ShiTomasi角点、亚像素级角点、SURF角点、Star关键点、FAST关键点、Lepetit关键点等等，本文将逐一介绍如何检测这些角点。在此之前将会先介绍跟角点检测密切相关的一些变换，包括Sobel算子、拉普拉斯算子、Canny算子、霍夫变换。另外，还会介绍一种广泛使用而OpenCv中并未实现的SIFT角点检测，以及最近在OpenCv中实现的MSER区域检测。所要讲述的内容会很多，我这里尽量写一些需要注意的地方及实现代码，而参考手册及书本中有的内容将一笔带过或者不会提及。
Sobel算子
Sobel算子用多项式计算来拟合导数计算，可以用OpenCv中的cvSobel函数或者EmguCv中的Image<TColor,TDepth>.Sobel方法来进行计算。需要注意的是，xorder和yorder中必须且只能有一个为非零值，即只能计算x方向或者y反向的导数；如果将方形滤波器的宽度设置为特殊值CV_SCHARR（-1），将使用Scharr滤波器代替Sobel滤波器。
使用Sobel滤波器的示例代码如下：
//Sobel算子
private
string SobelFeatureDetect()
{
//获取参数
int
xOrder =
int.Parse((string)cmbSobelXOrder.SelectedItem);
int yOrder
=
int.Parse((string)cmbSobelYOrder.SelectedItem);
int apertureSize
=
int.Parse((string)cmbSobelApertureSize.SelectedItem);
if ((xOrder
==
0
&& yOrder
==
0)
|| (xOrder
!=
0
&& yOrder
!=
0))
return
"Sobel算子，参数错误：xOrder和yOrder中必须且只能有一个非零。\r\n";
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
Image<Gray, Single>
imageDest = imageSourceGrayscale.Sobel(xOrder,
yOrder, apertureSize);
sw.Stop();
//显示
pbResult.Image
= imageDest.Bitmap;
//释放资源
imageDest.Dispose();
//返回
return
string.Format("·Sobel算子，用时{0:F05}毫秒，参数（x方向求导阶数：{1}，y方向求导阶数：{2}，方形滤波器宽度：{3}）\r\n",
sw.Elapsed.TotalMilliseconds, xOrder, yOrder, apertureSize);
}
拉普拉斯算子
拉普拉斯算子可以用作边缘检测；可以用OpenCv中的cvLaplace函数或者EmguCv中的Image<TColor,TDepth>.Laplace方法来进行拉普拉斯变换。需要注意的是：OpenCv的文档有点小错误，apertureSize参数值不能为CV_SCHARR（-1）。
使用拉普拉斯变换的示例代码如下：
//拉普拉斯变换
private
string LaplaceFeatureDetect()
{
//获取参数
int
apertureSize =
int.Parse((string)cmbLaplaceApertureSize.SelectedItem);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
Image<Gray, Single>
imageDest = imageSourceGrayscale.Laplace(apertureSize);
sw.Stop();
//显示
pbResult.Image
= imageDest.Bitmap;
//释放资源
imageDest.Dispose();
//返回
return
string.Format("·拉普拉斯变换，用时{0:F05}毫秒，参数（方形滤波器宽度：{1}）\r\n",
sw.Elapsed.TotalMilliseconds, apertureSize);
}
Canny算子
Canny算子也可以用作边缘检测；可以用OpenCv中的cvCanny函数或者EmguCv中的Image<TColor,TDepth>.Canny方法来进行Canny边缘检测。所不同的是，Image<TColor,TDepth>.Canny方法可以用于检测彩色图像的边缘，但是它只能使用apertureSize参数的默认值3；
而cvCanny只能处理灰度图像，不过可以自定义apertureSize。cvCanny和Canny的方法参数名有点点不同，下面是参数对照表。
Image<TColor,TDepth>.Canny CvInvoke.cvCanny
thresh lowThresh
threshLinking highThresh
3 apertureSize
值得注意的是，apertureSize只能取3，5或者7，这可以在cvcanny.cpp第87行看到：
aperture_size &= INT_MAX; if( (aperture_size & 1) == 0 || aperture_size < 3 || aperture_size > 7 ) CV_ERROR( CV_StsBadFlag, "" );
使用Canny算子的示例代码如下：
//拉普拉斯变换
private
string LaplaceFeatureDetect()
{
//获取参数
int
apertureSize =
int.Parse((string)cmbLaplaceApertureSize.SelectedItem);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
Image<Gray, Single>
imageDest = imageSourceGrayscale.Laplace(apertureSize);
sw.Stop();
//显示
pbResult.Image
= imageDest.Bitmap;
//释放资源
imageDest.Dispose();
//返回
return
string.Format("·拉普拉斯变换，用时{0:F05}毫秒，参数（方形滤波器宽度：{1}）\r\n",
sw.Elapsed.TotalMilliseconds, apertureSize);
}
//Canny算子
private
string CannyFeatureDetect()
{
//获取参数
double
lowThresh =
double.Parse(txtCannyLowThresh.Text);
double highThresh
=
double.Parse(txtCannyHighThresh.Text);
int apertureSize
=
int.Parse((string)cmbCannyApertureSize.SelectedItem);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
Image<Gray, Byte>
imageDest =
null;
Image<Bgr, Byte>
imageDest2 =
null;
if (rbCannyUseCvCanny.Checked)
{
imageDest =
new Image<Gray,
byte>(imageSourceGrayscale.Size);
CvInvoke.cvCanny(imageSourceGrayscale.Ptr, imageDest.Ptr, lowThresh, highThresh, apertureSize);
}
else
imageDest2 = imageSource.Canny(new
Bgr(lowThresh, lowThresh, lowThresh), new
Bgr(highThresh, highThresh, highThresh));
sw.Stop();
//显示
pbResult.Image
= rbCannyUseCvCanny.Checked
? imageDest.Bitmap : imageDest2.Bitmap;
//释放资源
if
(imageDest !=
null)
imageDest.Dispose();
if (imageDest2
!=
null)
imageDest2.Dispose();
//返回
return
string.Format("·Canny算子，用时{0:F05}毫秒，参数（方式：{1}，阀值下限：{2}，阀值上限：{3}，方形滤波器宽度：{4}）\r\n",
sw.Elapsed.TotalMilliseconds, rbCannyUseCvCanny.Checked ?
"cvCanny"
: "Image<TColor,
TDepth>.Canny",
lowThresh, highThresh, apertureSize);
}
另外，在http://www.china-vision.net/blog/user2/15975/archives/2007/804.html有一种自动获取Canny算子高低阀值的方法，作者提供了用C语言实现的代码。我将其改写成了C#版本，代码如下：
///
<summary>
/// 计算图像的自适应Canny算子阀值
/// </summary>
/// <param name="imageSrc">源图像，只能是256级灰度图像</param>
/// <param name="apertureSize">方形滤波器的宽度</param>
/// <param name="lowThresh">阀值下限</param>
/// <param name="highThresh">阀值上限</param>
unsafe void AdaptiveFindCannyThreshold(Image<Gray, Byte> imageSrc, int apertureSize, out double lowThresh, out double highThresh)
{
//计算源图像x方向和y方向的1阶Sobel算子
Size size = imageSrc.Size;
Image<Gray, Int16> imageDx = new Image<Gray, short>(size);
Image<Gray, Int16> imageDy = new Image<Gray, short>(size);
CvInvoke.cvSobel(imageSrc.Ptr, imageDx.Ptr, 1, 0, apertureSize);
CvInvoke.cvSobel(imageSrc.Ptr, imageDy.Ptr, 0, 1, apertureSize);
Image<Gray, Single> image = new Image<Gray, float>(size);
int i, j;
DenseHistogram hist = null;
int hist_size = 255;
float[] range_0 = new float[] { 0, 256 };
double PercentOfPixelsNotEdges = 0.7;
//计算边缘的强度，并保存于图像中
float maxv = 0;
float temp;
byte* imageDataDx = (byte*)imageDx.MIplImage.imageData.ToPointer();
byte* imageDataDy = (byte*)imageDy.MIplImage.imageData.ToPointer();
byte* imageData = (byte*)image.MIplImage.imageData.ToPointer();
int widthStepDx = imageDx.MIplImage.widthStep;
int widthStepDy = widthStepDx;
int widthStep = image.MIplImage.widthStep;
for (i = 0; i < size.Height; i++)
{
short* _dx = (short*)(imageDataDx + widthStepDx * i);
short* _dy = (short*)(imageDataDy + widthStepDy * i);
float* _image = (float*)(imageData + widthStep * i);
for (j = 0; j < size.Width; j++)
{
temp = (float)(Math.Abs(*(_dx + j)) + Math.Abs(*(_dy + j)));
*(_image + j) = temp;
if (maxv < temp)
maxv = temp;
}
}
//计算直方图
range_0[1] = maxv;
hist_size = hist_size > maxv ? (int)maxv : hist_size;
hist = new DenseHistogram(hist_size, new RangeF(range_0[0], range_0[1]));
hist.Calculate<Single>(new Image<Gray, Single>[] { image }, false, null);
int total = (int)(size.Height * size.Width * PercentOfPixelsNotEdges);
double sum = 0;
int icount = hist.BinDimension[0].Size;
for (i = 0; i < icount; i++)
{
sum += hist[i];
if (sum > total)
break;
}
//计算阀值
highThresh = (i + 1) * maxv / hist_size;
lowThresh = highThresh * 0.4;
//释放资源
imageDx.Dispose();
imageDy.Dispose(); image.Dispose();
hist.Dispose();
}
霍夫变换
霍夫变换是一种在图像中寻找直线、圆及其他简单形状的方法，在OpenCv中实现了霍夫线变换和霍夫圆变换。值得注意的地方有以下几点：（1）HoughLines2需要先计算Canny边缘，然后再检测直线；（2）HoughLines2计算结果的获取随获取方式的不同而不同；（3）HoughCircles检测结果似乎不正确。
使用霍夫变换的示例代码如下所示：
//霍夫线变换
private
string HoughLinesFeatureDetect()
{
//获取参数
HOUGH_TYPE method
= rbHoughLinesSHT.Checked
? HOUGH_TYPE.CV_HOUGH_STANDARD : (rbHoughLinesPPHT.Checked
? HOUGH_TYPE.CV_HOUGH_PROBABILISTIC
: HOUGH_TYPE.CV_HOUGH_MULTI_SCALE);
double rho
=
double.Parse(txtHoughLinesRho.Text);
double theta
=
double.Parse(txtHoughLinesTheta.Text);
int threshold
=
int.Parse(txtHoughLinesThreshold.Text);
double param1
=
double.Parse(txtHoughLinesParam1.Text);
double param2
=
double.Parse(txtHoughLinesParam2.Text);
MemStorage storage =
new MemStorage();
int linesCount
=
0;
StringBuilder sbResult =
new StringBuilder();
//计算，先运行Canny边缘检测（参数来自Canny算子属性页），然后再用计算霍夫线变换
double
lowThresh =
double.Parse(txtCannyLowThresh.Text);
double highThresh
=
double.Parse(txtCannyHighThresh.Text);
int apertureSize
=
int.Parse((string)cmbCannyApertureSize.SelectedItem);
Image<Gray, Byte>
imageCanny =
new Image<Gray,
byte>(imageSourceGrayscale.Size);
CvInvoke.cvCanny(imageSourceGrayscale.Ptr, imageCanny.Ptr, lowThresh, highThresh, apertureSize);
Stopwatch sw =
new Stopwatch();
sw.Start();
IntPtr ptrLines = CvInvoke.cvHoughLines2(imageCanny.Ptr,
storage.Ptr, method, rho, theta, threshold, param1, param2);
Seq<LineSegment2D>
linesSeq =
null;
Seq<PointF>
linesSeq2 =
null;
if (method
== HOUGH_TYPE.CV_HOUGH_PROBABILISTIC)
linesSeq =
new Seq<LineSegment2D>(ptrLines,
storage);
else
linesSeq2 =
new Seq<PointF>(ptrLines,
storage);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
if (linesSeq
!=
null)
{
linesCount = linesSeq.Total;
foreach (LineSegment2D
line in linesSeq)
{
imageResult.Draw(line, new
Bgr(255d, 0d, 0d), 4);
sbResult.AppendFormat("{0}-{1}，",
line.P1, line.P2);
}
}
else
{
linesCount = linesSeq2.Total;
foreach (PointF
line in linesSeq2)
{
float r
= line.X;
float t
= line.Y;
double a
= Math.Cos(t), b
= Math.Sin(t);
double x0
= a
* r, y0
= b
* r;
int x1
= (int)(x0
+
1000
* (-b));
int y1
= (int)(y0
+
1000
* (a));
int x2
= (int)(x0
-
1000
* (-b));
int y2
= (int)(y0
-
1000
* (a));
Point pt1 =
new Point(x1, y1);
Point pt2 =
new Point(x2, y2);
imageResult.Draw(new
LineSegment2D(pt1, pt2), new
Bgr(255d, 0d, 0d), 4);
sbResult.AppendFormat("{0}-{1}，",
pt1, pt2);
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageCanny.Dispose();
imageResult.Dispose();
storage.Dispose();
//返回
return
string.Format("·霍夫线变换，用时{0:F05}毫秒，参数（变换方式：{1}，距离精度：{2}，弧度精度：{3}，阀值：{4}，参数1：{5}，参数2：{6}），找到{7}条直线\r\n{8}",
sw.Elapsed.TotalMilliseconds, method.ToString("G"),
rho, theta, threshold, param1, param2, linesCount, linesCount !=
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
//霍夫圆变换
private
string HoughCirclesFeatureDetect()
{
//获取参数
double
dp =
double.Parse(txtHoughCirclesDp.Text);
double minDist
=
double.Parse(txtHoughCirclesMinDist.Text);
double param1
=
double.Parse(txtHoughCirclesParam1.Text);
double param2
=
double.Parse(txtHoughCirclesParam2.Text);
int minRadius
=
int.Parse(txtHoughCirclesMinRadius.Text);
int maxRadius
=
int.Parse(txtHoughCirclesMaxRadius.Text);
StringBuilder sbResult =
new StringBuilder();
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
CircleF[][] circles = imageSourceGrayscale.HoughCircles(new
Gray(param1), new
Gray(param2), dp, minDist, minRadius, maxRadius);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
int circlesCount
=
0;
foreach (CircleF[]
cs in circles)
{
foreach (CircleF
circle in cs)
{
imageResult.Draw(circle, new
Bgr(255d, 0d, 0d), 4);
sbResult.AppendFormat("圆心{0}半径{1}，",
circle.Center, circle.Radius);
circlesCount++;
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·霍夫圆变换，用时{0:F05}毫秒，参数（累加器图像的最小分辨率：{1}，不同圆之间的最小距离：{2}，边缘阀值：{3}，累加器阀值：{4}，最小圆半径：{5}，最大圆半径：{6}），找到{7}个圆\r\n{8}",
sw.Elapsed.TotalMilliseconds, dp, minDist, param1, param2, minRadius, maxRadius, circlesCount, sbResult.Length
>
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
Harris角点
cvCornerHarris函数检测的结果实际上是一幅包含Harris角点的浮点型单通道图像，可以使用类似下面的代码来计算包含Harris角点的图像：
//Harris角点
private
string CornerHarrisFeatureDetect()
{
//获取参数
int
blockSize =
int.Parse(txtCornerHarrisBlockSize.Text);
int apertureSize
=
int.Parse(txtCornerHarrisApertureSize.Text);
double k
=
double.Parse(txtCornerHarrisK.Text);
//计算
Image<Gray,
Single> imageDest
=
new Image<Gray,
float>(imageSourceGrayscale.Size);
Stopwatch sw =
new Stopwatch();
sw.Start();
CvInvoke.cvCornerHarris(imageSourceGrayscale.Ptr, imageDest.Ptr, blockSize, apertureSize, k);
sw.Stop();
//显示
pbResult.Image
= imageDest.Bitmap;
//释放资源
imageDest.Dispose();
//返回
return
string.Format("·Harris角点，用时{0:F05}毫秒，参数（邻域大小：{1}，方形滤波器宽度：{2}，权重系数：{3}）\r\n",
sw.Elapsed.TotalMilliseconds, blockSize, apertureSize, k);
}
如果要计算Harris角点列表，需要使用cvGoodFeatureToTrack函数，并传递适当的参数。
ShiTomasi角点
在默认情况下，cvGoodFeatureToTrack函数计算ShiTomasi角点；不过如果将参数use_harris设置为非0值，那么它会计算harris角点。
使用cvGoodFeatureToTrack函数的示例代码如下：
//ShiTomasi角点
private
string CornerShiTomasiFeatureDetect()
{
//获取参数
int
cornerCount =
int.Parse(txtGoodFeaturesCornerCount.Text);
double qualityLevel
=
double.Parse(txtGoodFeaturesQualityLevel.Text);
double minDistance
=
double.Parse(txtGoodFeaturesMinDistance.Text);
int blockSize
=
int.Parse(txtGoodFeaturesBlockSize.Text);
bool useHarris
= cbGoodFeaturesUseHarris.Checked;
double k
=
double.Parse(txtGoodFeaturesK.Text);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
PointF[][] corners = imageSourceGrayscale.GoodFeaturesToTrack(cornerCount,
qualityLevel, minDistance, blockSize, useHarris, k);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
int cornerCount2
=
0;
StringBuilder sbResult =
new StringBuilder();
int radius
= (int)(minDistance
/
2)
+
1;
int thickness
= (int)(minDistance
/
4)
+
1;
foreach (PointF[]
cs in corners)
{
foreach (PointF
p in cs)
{
imageResult.Draw(new
CircleF(p, radius), new
Bgr(255d, 0d, 0d), thickness);
cornerCount2++;
sbResult.AppendFormat("{0}，",
p);
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·ShiTomasi角点，用时{0:F05}毫秒，参数（最大角点数目：{1}，最小特征值：{2}，角点间的最小距离：{3}，邻域大小：{4}，角点类型：{5}，权重系数：{6}），检测到{7}个角点\r\n{8}",
sw.Elapsed.TotalMilliseconds, cornerCount, qualityLevel, minDistance, blockSize, useHarris
?
"Harris"
: "ShiTomasi",
k, cornerCount2, cornerCount2 >
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
亚像素级角点
在检测亚像素级角点前，需要提供角点的初始为止，这些初始位置可以用本文给出的其他的角点检测方式来获取，不过使用GoodFeaturesToTrack得到的结果最方便直接使用。
亚像素级角点检测的示例代码如下：
//亚像素级角点
private
string CornerSubPixFeatureDetect()
{
//获取参数
int
winWidth =
int.Parse(txtCornerSubPixWinWidth.Text);
int winHeight
=
int.Parse(txtCornerSubPixWinHeight.Text);
Size win =
new Size(winWidth,
winHeight);
int zeroZoneWidth
=
int.Parse(txtCornerSubPixZeroZoneWidth.Text);
int zeroZoneHeight
=
int.Parse(txtCornerSubPixZeroZoneHeight.Text);
Size zeroZone =
new Size(zeroZoneWidth,
zeroZoneHeight);
int maxIter=int.Parse(txtCornerSubPixMaxIter.Text);
double epsilon=double.Parse(txtCornerSubPixEpsilon.Text);
MCvTermCriteria criteria =
new MCvTermCriteria(maxIter,
epsilon);
//先计算得到易于跟踪的点（ShiTomasi角点）
int
cornerCount =
int.Parse(txtGoodFeaturesCornerCount.Text);
double qualityLevel
=
double.Parse(txtGoodFeaturesQualityLevel.Text);
double minDistance
=
double.Parse(txtGoodFeaturesMinDistance.Text);
int blockSize
=
int.Parse(txtGoodFeaturesBlockSize.Text);
bool useHarris
= cbGoodFeaturesUseHarris.Checked;
double k
=
double.Parse(txtGoodFeaturesK.Text);
PointF[][] corners = imageSourceGrayscale.GoodFeaturesToTrack(cornerCount,
qualityLevel, minDistance, blockSize, useHarris, k);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
imageSourceGrayscale.FindCornerSubPix(corners, win, zeroZone, criteria);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
int cornerCount2
=
0;
StringBuilder sbResult =
new StringBuilder();
int radius
= (int)(minDistance
/
2)
+
1;
int thickness
= (int)(minDistance
/
4)
+
1;
foreach (PointF[]
cs in corners)
{
foreach (PointF
p in cs)
{
imageResult.Draw(new
CircleF(p, radius), new
Bgr(255d, 0d, 0d), thickness);
cornerCount2++;
sbResult.AppendFormat("{0}，",
p);
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·亚像素级角点，用时{0:F05}毫秒，参数（搜索窗口：{1}，死区：{2}，最大迭代次数：{3}，亚像素值的精度：{4}），检测到{5}个角点\r\n{6}",
sw.Elapsed.TotalMilliseconds, win, zeroZone, maxIter, epsilon, cornerCount2, cornerCount2
>
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
SURF角点
OpenCv中的cvExtractSURF函数和EmguCv中的Image<TColor,TDepth>.ExtractSURF方法用于检测SURF角点。
SURF角点检测的示例代码如下：
//SURF角点
private
string SurfFeatureDetect()
{
//获取参数
bool
getDescriptors = cbSurfGetDescriptors.Checked;
MCvSURFParams surfParam =
new MCvSURFParams();
surfParam.extended=rbSurfBasicDescriptor.Checked
?
0 :
1;
surfParam.hessianThreshold=double.Parse(txtSurfHessianThreshold.Text);
surfParam.nOctaves=int.Parse(txtSurfNumberOfOctaves.Text);
surfParam.nOctaveLayers=int.Parse(txtSurfNumberOfOctaveLayers.Text);
//计算
SURFFeature[] features
=
null;
MKeyPoint[] keyPoints =
null;
Stopwatch sw =
new Stopwatch();
sw.Start();
if (getDescriptors)
features = imageSourceGrayscale.ExtractSURF(ref
surfParam);
else
keyPoints = surfParam.DetectKeyPoints(imageSourceGrayscale,
null);
sw.Stop();
//显示
bool
showDetail = cbSurfShowDetail.Checked;
Image<Bgr, Byte>
imageResult = imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
if (getDescriptors)
{
foreach (SURFFeature
feature in features)
{
imageResult.Draw(new
CircleF(feature.Point.pt, 5),
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
{
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，方向：{3}°，hessian值：{4}，拉普拉斯标志：{5}，描述：[",
idx, feature.Point.pt, feature.Point.size, feature.Point.dir, feature.Point.hessian, feature.Point.laplacian);
foreach (float
d in feature.Descriptor)
sbResult.AppendFormat("{0},",
d);
sbResult.Append("]），");
}
idx++;
}
}
else
{
foreach (MKeyPoint
keypoint in keyPoints)
{
imageResult.Draw(new
CircleF(keypoint.Point, 5),
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，方向：{3}°，响应：{4}，octave：{5}），",
idx, keypoint.Point, keypoint.Size, keypoint.Angle, keypoint.Response, keypoint.Octave);
idx++;
}
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·SURF角点，用时{0:F05}毫秒，参数（描述：{1}，hessian阀值：{2}，octave数目：{3}，每个octave的层数：{4}，检测到{5}个角点\r\n{6}",
sw.Elapsed.TotalMilliseconds, getDescriptors ?
(surfParam.extended ==
0
?
"获取基本描述"
: "获取扩展描述")
: "不获取描述",
surfParam.hessianThreshold,
surfParam.nOctaves, surfParam.nOctaveLayers, getDescriptors ?
features.Length : keyPoints.Length, showDetail ?
sbResult.ToString() +
"\r\n"
: "");
}
Star关键点
OpenCv中的cvGetStarKeypoints函数和EmguCv中的Image<TColor,TDepth>.GetStarKeypoints方法用于检测“星型”附近的点。
Star关键点检测的示例代码如下：
//Star关键点
private
string StarKeyPointFeatureDetect()
{
//获取参数
StarDetector starParam
=
new StarDetector();
starParam.MaxSize =
int.Parse((string)cmbStarMaxSize.SelectedItem);
starParam.ResponseThreshold =
int.Parse(txtStarResponseThreshold.Text);
starParam.LineThresholdProjected =
int.Parse(txtStarLineThresholdProjected.Text);
starParam.LineThresholdBinarized =
int.Parse(txtStarLineThresholdBinarized.Text);
starParam.SuppressNonmaxSize =
int.Parse(txtStarSuppressNonmaxSize.Text);
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
MCvStarKeypoint[] keyPoints = imageSourceGrayscale.GetStarKeypoints(ref
starParam);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
foreach (MCvStarKeypoint
keypoint in keyPoints)
{
imageResult.Draw(new
CircleF(new PointF(keypoint.pt.X,
keypoint.pt.Y), keypoint.size /
2),
new Bgr(255d, 0d,
0d), keypoint.size /
4);
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，强度：{3}），",
idx, keypoint.pt, keypoint.size, keypoint.response);
idx++;
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·Star关键点，用时{0:F05}毫秒，参数（MaxSize：{1}，ResponseThreshold：{2}，LineThresholdProjected：{3}，LineThresholdBinarized：{4}，SuppressNonmaxSize：{5}），检测到{6}个关键点\r\n{7}",
sw.Elapsed.TotalMilliseconds, starParam.MaxSize, starParam.ResponseThreshold, starParam.LineThresholdProjected, starParam.LineThresholdBinarized, starParam.SuppressNonmaxSize, keyPoints.Length, keyPoints.Length
>
0
? (sbResult.ToString()
+
"\r\n")
: "");
}
FAST角点检测
FAST角点由E. Rosten教授提出，相比其他检测手段，这种方法的速度正如其名，相当的快。值得关注的是他所研究的理论都是属于实用类的，都很快。Rosten教授实现了FAST角点检测，并将其提供给了OpenCv，相当的有爱呀；不过OpenCv中的函数和Rosten教授的实现似乎有点点不太一样。遗憾的是，OpenCv中目前还没有FAST角点检测的文档。下面是我从Rosten的代码中找到的函数声明，可以看到粗略的参数说明。
/*
The references are:
* Machine learning for high-speed corner detection,
E. Rosten and T. Drummond, ECCV 2006
* Faster and better: A machine learning approach to corner detection
E. Rosten, R. Porter and T. Drummond, PAMI, 2009
*/
void cvCornerFast( const CvArr* image, int threshold, int N,
int nonmax_suppression, int* ret_number_of_corners,
CvPoint** ret_corners);
image: OpenCV image in which to detect corners. Must be 8 bit unsigned.
threshold: Threshold for detection (higher is fewer corners). 0--255
N: Arc length of detector, 9, 10, 11 or 12. 9 is usually best.
nonmax_suppression: Whether to perform nonmaximal suppression.
ret_number_of_corners: The number of detected corners is returned here.
ret_corners: The corners are returned here.
EmguCv中的Image<TColor,TDepth>.GetFASTKeypoints方法也实现了FAST角点检测，不过参数少了一些，只有threshold和nonmaxSupression，其中N我估计取的默认值9，但是返回的角点数目我不知道是怎么设置的。
使用FAST角点检测的示例代码如下：
//FAST关键点
private
string FASTKeyPointFeatureDetect()
{
//获取参数
int
threshold =
int.Parse(txtFASTThreshold.Text);
bool nonmaxSuppression
= cbFASTNonmaxSuppression.Checked;
bool showDetail
= cbFASTShowDetail.Checked;
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
MKeyPoint[] keyPoints = imageSourceGrayscale.GetFASTKeypoints(threshold,
nonmaxSuppression);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
foreach (MKeyPoint
keypoint in keyPoints)
{
imageResult.Draw(new
CircleF(keypoint.Point, (int)(keypoint.Size
/
2)),
new Bgr(255d, 0d,
0d), (int)(keypoint.Size
/
4));
if (showDetail)
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，方向：{3}°，响应：{4}，octave：{5}），",
idx, keypoint.Point, keypoint.Size, keypoint.Angle, keypoint.Response, keypoint.Octave);
idx++;
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·FAST关键点，用时{0:F05}毫秒，参数（阀值：{1}，nonmaxSupression：{2}），检测到{3}个关键点\r\n{4}",
sw.Elapsed.TotalMilliseconds, threshold, nonmaxSuppression, keyPoints.Length, showDetail
? (sbResult.ToString()
+
"\r\n")
: "");
}
Lepetit关键点
Lepetit关键点由Vincent Lepetit提出，可以在他的网站（http://cvlab.epfl.ch/~vlepetit/）上看到相关的论文等资料。EmguCv中的类LDetector实现了Lepetit关键点的检测。
使用Lepetit关键点检测的示例代码如下：
//Lepetit关键点
private
string LepetitKeyPointFeatureDetect()
{
//获取参数
LDetector lepetitDetector
=
new LDetector();
lepetitDetector.BaseFeatureSize =
double.Parse(txtLepetitBaseFeatureSize.Text);
lepetitDetector.ClusteringDistance =
double.Parse(txtLepetitClasteringDistance.Text);
lepetitDetector.NOctaves =
int.Parse(txtLepetitNumberOfOctaves.Text);
lepetitDetector.NViews =
int.Parse(txtLepetitNumberOfViews.Text);
lepetitDetector.Radius =
int.Parse(txtLepetitRadius.Text);
lepetitDetector.Threshold =
int.Parse(txtLepetitThreshold.Text);
lepetitDetector.Verbose = cbLepetitVerbose.Checked;
int maxCount
=
int.Parse(txtLepetitMaxCount.Text);
bool scaleCoords
= cbLepetitScaleCoords.Checked;
bool showDetail
= cbLepetitShowDetail.Checked;
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
MKeyPoint[] keyPoints = lepetitDetector.DetectKeyPoints(imageSourceGrayscale,
maxCount, scaleCoords);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
foreach (MKeyPoint
keypoint in keyPoints)
{
//imageResult.Draw(new
CircleF(keypoint.Point, (int)(keypoint.Size / 2)), new Bgr(255d, 0d, 0d), (int)(keypoint.Size / 4));
imageResult.Draw(new
CircleF(keypoint.Point, 4),
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
sbResult.AppendFormat("第{0}点（坐标：{1}，尺寸：{2}，方向：{3}°，响应：{4}，octave：{5}），",
idx, keypoint.Point, keypoint.Size, keypoint.Angle, keypoint.Response, keypoint.Octave);
idx++;
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
//返回
return
string.Format("·Lepetit关键点，用时{0:F05}毫秒，参数（基础特征尺寸：{1}，集群距离：{2}，阶数：{3}，视图数：{4}，半径：{5}，阀值：{6}，计算详细结果：{7}，最大关键点数目：{8}，缩放坐标：{9}），检测到{10}个关键点\r\n{11}",
sw.Elapsed.TotalMilliseconds, lepetitDetector.BaseFeatureSize, lepetitDetector.ClusteringDistance, lepetitDetector.NOctaves, lepetitDetector.NViews,
lepetitDetector.Radius, lepetitDetector.Threshold, lepetitDetector.Verbose, maxCount, scaleCoords, keyPoints.Length, showDetail
? (sbResult.ToString()
+
"\r\n")
: "");
}
SIFT角点
SIFT角点是一种广泛使用的图像特征，可用于物体跟踪、图像匹配、图像拼接等领域，然而奇怪的是它并未被OpenCv实现。提出SIFT角点的David Lowe教授已经用C和matlab实现了SIFT角点的检测，并开放了源代码，不过他的实现不方便直接使用。您可以在http://www.cs.ubc.ca/~lowe/keypoints/看到SIFT的介绍、相关论文及David
Lowe教授的实现代码。下面我要介绍由Andrea Vedaldi和Brian Fulkerson先生创建的vlfeat开源图像处理库，vlfeat库有C和matlab两种实现，其中包含了SIFT检测。您可以在http://www.vlfeat.org/下载到vlfeat库的代码、文档及可执行文件。
使用vlfeat检测SIFT角点需要以下步骤：
（1）用函数vl_sift_new()初始化SIFT过滤器对象，该过滤器对象可以反复用于多幅尺寸相同的图像；
（2）用函数vl_sift_first_octave()及vl_sift_process_next()遍历缩放空间的每一阶，直到返回VL_ERR_EOF为止；
（3）对于缩放空间的每一阶，用函数vl_sift_detect()来获取关键点；
（4）对每个关键点，用函数vl_sift_calc_keypoint_orientations()来获取该点的方向；
（5）对关键点的每个方向，用函数vl_sift_calc_keypoint_descriptor()来获取该方向的描述；
（6）使用完之后，用函数vl_sift_delete()来释放资源；
（7）如果要计算某个自定义关键点的描述，可以使用函数vl_sift_calc_raw_descriptor()。
直接使用vlfeat中的SIFT角点检测示例代码如下：
//通过P/Invoke调用vlfeat函数来进行SIFT检测
unsafe
private
string SiftFeatureDetectByPinvoke(int
noctaves, int
nlevels, int o_min,
bool showDetail)
{
StringBuilder sbResult =
new StringBuilder();
//初始化
IntPtr ptrSiftFilt
= VlFeatInvoke.vl_sift_new(imageSource.Width,
imageSource.Height, noctaves, nlevels, o_min);
if (ptrSiftFilt
== IntPtr.Zero)
return
"Sift特征检测：初始化失败。";
//处理
Image<Gray,
Single> imageSourceSingle
= imageSourceGrayscale.ConvertScale<Single>(1d,
0d);
Image<Bgr, Byte>
imageResult = imageSourceGrayscale.Convert<Bgr,
Byte>();
int pointCount
=
0;
int idx
=
0;
//依次遍历每一组
if
(VlFeatInvoke.vl_sift_process_first_octave(ptrSiftFilt, imageSourceSingle.MIplImage.imageData)
!= VlFeatInvoke.VL_ERR_EOF)
{
while (true)
{
//计算每组中的关键点
VlFeatInvoke.vl_sift_detect(ptrSiftFilt);
//遍历并绘制每个点
VlSiftFilt siftFilt
= (VlSiftFilt)Marshal.PtrToStructure(ptrSiftFilt,
typeof(VlSiftFilt));
pointCount += siftFilt.nkeys;
VlSiftKeypoint* pKeyPoints
= (VlSiftKeypoint*)siftFilt.keys.ToPointer();
for (int
i =
0; i
< siftFilt.nkeys; i++)
{
VlSiftKeypoint keyPoint =
*pKeyPoints;
pKeyPoints++;
imageResult.Draw(new
CircleF(new PointF(keyPoint.x,
keyPoint.y), keyPoint.sigma /
2),
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
sbResult.AppendFormat("第{0}点，坐标：({1},{2})，阶：{3}，缩放：{4}，s：{5}，",
idx, keyPoint.x, keyPoint.y, keyPoint.o, keyPoint.sigma, keyPoint.s);
idx++;
//计算并遍历每个点的方向
double[]
angles =
new
double[4];
int angleCount
= VlFeatInvoke.vl_sift_calc_keypoint_orientations(ptrSiftFilt,
angles, ref keyPoint);
if (showDetail)
sbResult.AppendFormat("共{0}个方向，",
angleCount);
for (int
j =
0; j
< angleCount; j++)
{
double angle
= angles[j];
if (showDetail)
sbResult.AppendFormat("【方向：{0}，描述：",
angle);
//计算每个方向的描述
IntPtr ptrDescriptors
= Marshal.AllocHGlobal(128
*
sizeof(float));
VlFeatInvoke.vl_sift_calc_keypoint_descriptor(ptrSiftFilt, ptrDescriptors,
ref keyPoint, angle);
float*
pDescriptors = (float*)ptrDescriptors.ToPointer();
for (int
k =
0; k
<
128; k++)
{
float descriptor
=
*pDescriptors;
pDescriptors++;
if (showDetail)
sbResult.AppendFormat("{0},",
descriptor);
}
sbResult.Append("】，");
Marshal.FreeHGlobal(ptrDescriptors);
}
}
//下一阶
if
(VlFeatInvoke.vl_sift_process_next_octave(ptrSiftFilt) ==
VlFeatInvoke.VL_ERR_EOF)
break;
}
}
//显示
pbResult.Image
= imageResult.Bitmap;
//释放资源
VlFeatInvoke.vl_sift_delete(ptrSiftFilt);
imageSourceSingle.Dispose();
imageResult.Dispose();
//返回
return
string.Format("·SIFT特征检测(P/Invoke)，用时：未统计，参数（阶数：{0}，每阶层数：{1}，最小阶索引：{2}），{3}个关键点\r\n{4}",
noctaves, nlevels, o_min, pointCount, showDetail ?
(sbResult.ToString() +
"\r\n")
: "");
}
要在.net中使用vlfeat还是不够方便，为此我对vlfeat中的SIFT角点检测部分进行了封装，将相关操作放到了类SiftDetector中。
使用SiftDetector需要两至三步：
（1）用构造函数初始化SiftDetector对象；
（2）用Process方法计算特征；
（3）视需要调用Dispose方法释放资源，或者等待垃圾回收器来自动释放资源。
使用SiftDetector的示例代码如下：
通过dotnet封装的SiftDetector类来进行SIFT检测
对vlfeat库中的SIFT部分封装代码如下所示：
using
System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Runtime.InteropServices;
namespace ImageProcessLearn
{
[StructLayoutAttribute(LayoutKind.Sequential)]
public
struct VlSiftKeypoint
{
///
int
public
int o;
///
int
public
int ix;
///
int
public
int iy;
///
int
public
int @is;
///
float
public
float x;
///
float
public
float y;
///
float
public
float s;
///
float
public
float sigma;
}
[StructLayoutAttribute(LayoutKind.Sequential)]
public
struct VlSiftFilt
{
///
double
public
double sigman;
///
double
public
double sigma0;
///
double
public
double sigmak;
///
double
public
double dsigma0;
///
int
public
int width;
///
int
public
int height;
///
int
public
int O;
///
int
public
int S;
///
int
public
int o_min;
///
int
public
int s_min;
///
int
public
int s_max;
///
int
public
int o_cur;
///
vl_sift_pix*
public
System.IntPtr temp;
///
vl_sift_pix*
public
System.IntPtr octave;
///
vl_sift_pix*
public
System.IntPtr dog;
///
int
public
int octave_width;
///
int
public
int octave_height;
///
VlSiftKeypoint*
public
System.IntPtr keys;
///
int
public
int nkeys;
///
int
public
int keys_res;
///
double
public
double peak_thresh;
///
double
public
double edge_thresh;
///
double
public
double norm_thresh;
///
double
public
double magnif;
///
double
public
double windowSize;
///
vl_sift_pix*
public
System.IntPtr grad;
///
int
public
int grad_o;
///
<summary>
///
获取SiftFilt指针；
///
注意在使用完指针之后，需要用Marshal.FreeHGlobal释放内存。
///
</summary>
///
<returns></returns>
unsafe
public IntPtr GetPtrOfVlSiftFilt()
{
IntPtr ptrSiftFilt = Marshal.AllocHGlobal(sizeof(VlSiftFilt));
Marshal.StructureToPtr(this,
ptrSiftFilt, true);
return ptrSiftFilt;
}
}
public
class VlFeatInvoke
{
///
VL_ERR_MSG_LEN -> 1024
public
const
int VL_ERR_MSG_LEN
=
1024;
///
VL_ERR_OK -> 0
public
const
int VL_ERR_OK
=
0;
///
VL_ERR_OVERFLOW -> 1
public
const
int VL_ERR_OVERFLOW
=
1;
///
VL_ERR_ALLOC -> 2
public
const
int VL_ERR_ALLOC
=
2;
///
VL_ERR_BAD_ARG -> 3
public
const
int VL_ERR_BAD_ARG
=
3;
///
VL_ERR_IO -> 4
public
const
int VL_ERR_IO
=
4;
///
VL_ERR_EOF -> 5
public
const
int VL_ERR_EOF
=
5;
///
VL_ERR_NO_MORE -> 5
public
const
int VL_ERR_NO_MORE
=
5;
///
Return Type: VlSiftFilt*
///width:
int
///height:
int
///noctaves:
int
///nlevels:
int
///o_min:
int
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_new")]
public
static
extern System.IntPtr
vl_sift_new(int
width, int height,
int noctaves,
int nlevels,
int o_min);
///
Return Type: void
///f:
VlSiftFilt*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_delete")]
public
static
extern
void vl_sift_delete(IntPtr
f);
///
Return Type: int
///f:
VlSiftFilt*
///im:
vl_sift_pix*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_process_first_octave")]
public
static
extern
int vl_sift_process_first_octave(IntPtr
f, IntPtr im);
///
Return Type: int
///f:
VlSiftFilt*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_process_next_octave")]
public
static
extern
int vl_sift_process_next_octave(IntPtr
f);
///
Return Type: void
///f:
VlSiftFilt*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_detect")]
public
static
extern
void vl_sift_detect(IntPtr
f);
///
Return Type: int
///f:
VlSiftFilt*
///angles:
double*
///k:
VlSiftKeypoint*
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_calc_keypoint_orientations")]
public
static
extern
int vl_sift_calc_keypoint_orientations(IntPtr
f, double[] angles,
ref VlSiftKeypoint
k);
///
Return Type: void
///f:
VlSiftFilt*
///descr:
vl_sift_pix*
///k:
VlSiftKeypoint*
///angle:
double
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_calc_keypoint_descriptor")]
public
static
extern
void vl_sift_calc_keypoint_descriptor(IntPtr
f, IntPtr descr, ref
VlSiftKeypoint k, double
angle);
///
Return Type: void
///f:
VlSiftFilt*
///image:
vl_sift_pix*
///descr:
vl_sift_pix*
///widht:
int
///height:
int
///x:
double
///y:
double
///s:
double
///angle0:
double
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_calc_raw_descriptor")]
public
static
extern
void vl_sift_calc_raw_descriptor(IntPtr
f, IntPtr image, IntPtr descr, int
widht, int height,
double x,
double y,
double s,
double angle0);
///
Return Type: void
///f:
VlSiftFilt*
///k:
VlSiftKeypoint*
///x:
double
///y:
double
///sigma:
double
[DllImportAttribute("vl.dll",
EntryPoint =
"vl_sift_keypoint_init")]
public
static
extern
void vl_sift_keypoint_init(IntPtr
f, ref VlSiftKeypoint
k, double x,
double y,
double sigma);
}
}
SiftDetector类的实现代码如下所示：
using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Drawing;
using System.Runtime.InteropServices;
using Emgu.CV;
using Emgu.CV.Structure;
namespace ImageProcessLearn
{
///
<summary>
///
SIFT检测器
///
</summary>
public
class SiftDetector
: IDisposable
{
//成员变量
private
IntPtr ptrSiftFilt;
//属性
///
<summary>
///
SiftFilt指针
///
</summary>
public
IntPtr PtrSiftFilt
{
get
{
return ptrSiftFilt;
}
}
///
<summary>
///
获取SIFT检测器中的SiftFilt
///
</summary>
public
VlSiftFilt SiftFilt
{
get
{
return (VlSiftFilt)Marshal.PtrToStructure(ptrSiftFilt,
typeof(VlSiftFilt));
}
}
///
<summary>
///
构造函数
///
</summary>
///
<param name="width">图像的宽度</param>
///
<param name="height">图像的高度</param>
///
<param name="noctaves">阶数</param>
///
<param name="nlevels">每一阶的层数</param>
///
<param name="o_min">最小阶的索引</param>
public
SiftDetector(int
width, int height,
int noctaves,
int nlevels,
int o_min)
{
ptrSiftFilt = VlFeatInvoke.vl_sift_new(width,
height, noctaves, nlevels, o_min);
}
public SiftDetector(int
width, int height)
: this(width, height,
4,
2,
0)
{ }
public SiftDetector(Size
size, int noctaves,
int nlevels,
int o_min)
: this(size.Width,
size.Height, noctaves, nlevels, o_min)
{ }
public SiftDetector(Size
size)
: this(size.Width,
size.Height, 4,
2,
0)
{ }
///
<summary>
///
进行SIFT检测，并返回检测的结果
///
</summary>
///
<param name="im">单通道浮点型图像数据，图像数据不必归一化到区间[0,1]</param>
///
<param name="resultType">SIFT检测的结果类型</param>
///
<returns>返回SIFT检测结果——SIFT特征列表；如果检测失败，返回null。</returns>
unsafe
public List<SiftFeature>
Process(IntPtr im, SiftDetectorResultType resultType)
{
//定义变量
List<SiftFeature>
features =
null;
//检测结果：SIFT特征列表
VlSiftFilt siftFilt;
//
VlSiftKeypoint*
pKeyPoints; //指向关键点的指针
VlSiftKeypoint keyPoint;
//关键点
SiftKeyPointOrientation[] orientations;
//关键点对应的方向及描述
double[]
angles =
new
double[4];
//关键点对应的方向（角度）
int
angleCount; //某个关键点的方向数目
double
angle; //方向
float[]
descriptors; //关键点某个方向的描述
IntPtr ptrDescriptors
= Marshal.AllocHGlobal(128
*
sizeof(float));
//指向描述的缓冲区指针
//依次遍历每一阶
if
(VlFeatInvoke.vl_sift_process_first_octave(ptrSiftFilt, im) !=
VlFeatInvoke.VL_ERR_EOF)
{
features =
new List<SiftFeature>(100);
while (true)
{
//计算每组中的关键点
VlFeatInvoke.vl_sift_detect(ptrSiftFilt);
//遍历每个点
siftFilt
= (VlSiftFilt)Marshal.PtrToStructure(ptrSiftFilt,
typeof(VlSiftFilt));
pKeyPoints = (VlSiftKeypoint*)siftFilt.keys.ToPointer();
for (int
i =
0; i
< siftFilt.nkeys; i++)
{
keyPoint =
*pKeyPoints;
pKeyPoints++;
orientations =
null;
if (resultType
== SiftDetectorResultType.Normal
|| resultType
== SiftDetectorResultType.Extended)
{
//计算并遍历每个点的方向
angleCount
= VlFeatInvoke.vl_sift_calc_keypoint_orientations(ptrSiftFilt,
angles, ref keyPoint);
orientations =
new SiftKeyPointOrientation[angleCount];
for (int
j =
0; j
< angleCount; j++)
{
angle = angles[j];
descriptors =
null;
if (resultType
== SiftDetectorResultType.Extended)
{
//计算每个方向的描述
VlFeatInvoke.vl_sift_calc_keypoint_descriptor(ptrSiftFilt, ptrDescriptors,
ref keyPoint, angle);
descriptors =
new
float[128];
Marshal.Copy(ptrDescriptors, descriptors, 0,
128);
}
orientations[j] =
new SiftKeyPointOrientation(angle,
descriptors); //保存关键点方向和描述
}
}
features.Add(new
SiftFeature(keyPoint, orientations)); //将得到的特征添加到列表中
}
//下一阶
if
(VlFeatInvoke.vl_sift_process_next_octave(ptrSiftFilt) ==
VlFeatInvoke.VL_ERR_EOF)
break;
}
}
//释放资源
Marshal.FreeHGlobal(ptrDescriptors);
//返回
return
features;
}
///
<summary>
///
进行基本的SIFT检测，并返回关键点列表
///
</summary>
///
<param name="im">单通道浮点型图像数据，图像数据不必归一化到区间[0,1]</param>
///
<returns>返回关键点列表；如果获取失败，返回null。</returns>
public
List<SiftFeature>
Process(IntPtr im)
{
return Process(im,
SiftDetectorResultType.Basic);
}
///
<summary>
///
进行SIFT检测，并返回检测的结果
///
</summary>
///
<param name="image">图像</param>
///
<param name="resultType">SIFT检测的结果类型</param>
///
<returns>返回SIFT检测结果——SIFT特征列表；如果检测失败，返回null。</returns>
public
List<SiftFeature>
Process(Image<Gray, Single>
image, SiftDetectorResultType resultType)
{
if (image.Width
!= SiftFilt.width
|| image.Height
!= SiftFilt.height)
throw
new ArgumentException("图像的尺寸和构造函数中指定的尺寸不一致。",
"image");
return Process(image.MIplImage.imageData,
resultType);
}
///
<summary>
///
进行基本的SIFT检测，并返回检测的结果
///
</summary>
///
<param name="image">图像</param>
///
<returns>返回SIFT检测结果——SIFT特征列表；如果检测失败，返回null。</returns>
public
List<SiftFeature>
Process(Image<Gray, Single>
image)
{
return Process(image,
SiftDetectorResultType.Basic);
}
///
<summary>
///
释放资源
///
</summary>
public
void Dispose()
{
if (ptrSiftFilt
!= IntPtr.Zero)
VlFeatInvoke.vl_sift_delete(ptrSiftFilt);
}
}
///
<summary>
///
SIFT特征
///
</summary>
public
struct SiftFeature
{
public VlSiftKeypoint
keypoint; //关键点
public
SiftKeyPointOrientation[] keypointOrientations; //关键点的方向及方向对应的描述
public SiftFeature(VlSiftKeypoint
keypoint)
: this(keypoint,
null)
{
}
public SiftFeature(VlSiftKeypoint
keypoint, SiftKeyPointOrientation[] keypointOrientations)
{
this.keypoint
= keypoint;
this.keypointOrientations
= keypointOrientations;
}
}
///
<summary>
///
Sift关键点的方向及描述
///
</summary>
public
struct SiftKeyPointOrientation
{
public
double angle;
//方向
public
float[] descriptors;
//描述
public SiftKeyPointOrientation(double
angle)
: this(angle,
null)
{
}
public SiftKeyPointOrientation(double
angle, float[]
descriptors)
{
this.angle
= angle;
this.descriptors
= descriptors;
}
}
///
<summary>
///
SIFT检测的结果
///
</summary>
public
enum SiftDetectorResultType
{
Basic, //基本：仅包含关键点
Normal,
//正常：包含关键点、方向
Extended
//扩展：包含关键点、方向以及描述
}
}
MSER区域
OpenCv中的函数cvExtractMSER以及EmguCv中的Image<TColor,TDepth>.ExtractMSER方法实现了MSER区域的检测。由于OpenCv的文档中目前还没有cvExtractMSER这一部分，大家如果要看文档的话，可以先去看EmguCv的文档。
需要注意的是MSER区域的检测结果是区域中所有的点序列。例如检测到3个区域，其中一个区域是从(0,0)到(2,1)的矩形，那么结果点序列为：(0,0),(1,0),(2,0),(2,1),(1,1),(0,1)。
MSER区域检测的示例代码如下：
//MSER（区域）特征检测
private
string MserFeatureDetect()
{
//获取参数
MCvMSERParams mserParam
=
new MCvMSERParams();
mserParam.delta =
int.Parse(txtMserDelta.Text);
mserParam.maxArea =
int.Parse(txtMserMaxArea.Text);
mserParam.minArea =
int.Parse(txtMserMinArea.Text);
mserParam.maxVariation =
float.Parse(txtMserMaxVariation.Text);
mserParam.minDiversity =
float.Parse(txtMserMinDiversity.Text);
mserParam.maxEvolution =
int.Parse(txtMserMaxEvolution.Text);
mserParam.areaThreshold =
double.Parse(txtMserAreaThreshold.Text);
mserParam.minMargin =
double.Parse(txtMserMinMargin.Text);
mserParam.edgeBlurSize =
int.Parse(txtMserEdgeBlurSize.Text);
bool showDetail
= cbMserShowDetail.Checked;
//计算
Stopwatch sw
=
new Stopwatch();
sw.Start();
MemStorage storage =
new MemStorage();
Seq<Point>[]
regions = imageSource.ExtractMSER(null,
ref mserParam,
storage);
sw.Stop();
//显示
Image<Bgr,
Byte> imageResult
= imageSourceGrayscale.Convert<Bgr,
Byte>();
StringBuilder sbResult =
new StringBuilder();
int idx
=
0;
foreach (Seq<Point>
region in regions)
{
imageResult.DrawPolyline(region.ToArray(), true,
new Bgr(255d, 0d,
0d), 2);
if (showDetail)
{
sbResult.AppendFormat("第{0}区域，包含{1}个顶点（",
idx, region.Total);
foreach (Point
pt in region)
sbResult.AppendFormat("{0},",
pt);
sbResult.Append("）\r\n");
}
idx++;
}
pbResult.Image = imageResult.Bitmap;
//释放资源
imageResult.Dispose();
storage.Dispose();
//返回
return
string.Format("·MSER区域，用时{0:F05}毫秒，参数（delta：{1}，maxArea：{2}，minArea：{3}，maxVariation：{4}，minDiversity：{5}，maxEvolution：{6}，areaThreshold：{7}，minMargin：{8}，edgeBlurSize：{9}），检测到{10}个区域\r\n{11}",
sw.Elapsed.TotalMilliseconds, mserParam.delta, mserParam.maxArea, mserParam.minArea, mserParam.maxVariation, mserParam.minDiversity,
mserParam.maxEvolution, mserParam.areaThreshold, mserParam.minMargin, mserParam.edgeBlurSize, regions.Length, showDetail
? sbResult.ToString() :
"");
}
各种特征检测方法性能对比
上面介绍了这么多的特征检测方法，那么它们的性能到底如何呢？因为它们的参数设置对处理时间及结果的影响很大，我们在这里基本都使用默认参数处理同一幅图像。在我机器上的处理结果见下表：
| 特征 | 用时（毫秒） | 特征数目 |
| Sobel算子 | 5.99420 | n/a |
| 拉普拉斯算子 | 3.13440 | n/a |
| Canny算子 | 3.41160 | n/a |
| 霍夫线变换 | 13.70790 | 10 |
| 霍夫圆变换 | 78.07720 | 0 |
| Harris角点 | 9.41750 | n/a |
| ShiTomasi角点 | 16.98390 | 18 |
| 亚像素级角点 | 3.63360 | 18 |
| SURF角点 | 266.27000 | 151 |
| Star关键点 | 14.82800 | 56 |
| FAST角点 | 31.29670 | 159 |
| SIFT角点 | 287.52310 | 54 |
| MSER区域 | 40.62970 | 2 |
感谢您耐心看完本文，希望对您有所帮助。
下一篇文章我们将一起看看如何来跟踪本文讲到的特征点（角点）。
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