public partial class Form7 : Form
{
    private Mat originalImage;
    public Form7()
    {
        InitializeComponent();
    }

    private void btnLoadImage_Click(object sender, EventArgs e)
    {
        using (OpenFileDialog ofd = new OpenFileDialog())
        {
            ofd.Filter = "Image Files|*.jpg;*.jpeg;*.png;*.bmp";
            if (ofd.ShowDialog() == DialogResult.OK)
            {
                originalImage = new Mat(ofd.FileName, ImreadModes.Color);
                DisplayImage(originalImage);
                btnDetectFeatures.Enabled = true;
            }
        }
    }

    private void DisplayImage(Mat image)
    {
        try
        {
            using (var bitmap = BitmapConverter.ToBitmap(image))
            {
                if (pic.Image != null)
                {
                    pic.Image.Dispose();
                }
                pic.Image = new Bitmap(bitmap);
            }
        }
        catch (Exception ex)
        {
            MessageBox.Show($"Error displaying image: {ex.Message}");
        }
    }

    protected override void OnFormClosing(FormClosingEventArgs e)
    {
        base.OnFormClosing(e);
        originalImage?.Dispose();
    }

    private void btnDetectFeatures_Click(object sender, EventArgs e)
    {
        if (originalImage == null)
            return;

        try
        {
            // 創(chuàng)建ORB對(duì)象  
            using var orb = ORB.Create(500); // 最多檢測500個(gè)特征點(diǎn)  

            // 檢測關(guān)鍵點(diǎn)  
            KeyPoint[] keypoints = orb.Detect(originalImage);

            // 計(jì)算描述子  
            using var descriptors = new Mat();
            orb.Compute(originalImage, ref keypoints, descriptors);

            // 創(chuàng)建一個(gè)新的Mat來繪制結(jié)果  
            using var result = new Mat();
            // 繪制關(guān)鍵點(diǎn)，使用紅色圓圈標(biāo)記特征點(diǎn)  
            Cv2.DrawKeypoints(originalImage, keypoints, result,
                new Scalar(0, 0, 255), // 紅色  
                DrawMatchesFlags.DrawRichKeypoints); // 繪制帶有大小和方向的關(guān)鍵點(diǎn)  

            // 顯示結(jié)果  
            DisplayImage(result);

            MessageBox.Show($"檢測到 {keypoints.Length} 個(gè)ORB特征點(diǎn)");
        }
        catch (Exception ex)
        {
            MessageBox.Show($"Error detecting features: {ex.Message}");
        }
    }
}

static void Main(string[] args)
{
    MatchORBFeatures("grey.jpg", "pur.jpg");
}

public static void MatchORBFeatures(string imagePath1, string imagePath2)
{
    // 讀取圖像
    using var img1 = new Mat(imagePath1, ImreadModes.Color);
    using var img2 = new Mat(imagePath2, ImreadModes.Color);

    // 創(chuàng)建ORB對(duì)象
    using var orb = ORB.Create(500);

    // 檢測關(guān)鍵點(diǎn)并計(jì)算描述子
    KeyPoint[] keypoints1, keypoints2;
    using var descriptors1 = new Mat();
    using var descriptors2 = new Mat();

    orb.DetectAndCompute(img1, null, out keypoints1, descriptors1);
    orb.DetectAndCompute(img2, null, out keypoints2, descriptors2);

    // 創(chuàng)建BFMatcher對(duì)象
    using var matcher = new BFMatcher(NormTypes.Hamming, crossCheck: true);

    // 進(jìn)行特征匹配
    DMatch[] matches = matcher.Match(descriptors1, descriptors2);

    // 繪制匹配結(jié)果
    using var imgMatches = new Mat();
    Cv2.DrawMatches(img1, keypoints1, img2, keypoints2, matches, imgMatches);

    // 保存結(jié)果
    imgMatches.SaveImage("orb_matches.jpg");

    Console.WriteLine($"找到 {matches.Length} 個(gè)匹配點(diǎn)");
}

public static void TuneORBParameters(string imagePath)
{
    using var src = new Mat(imagePath, ImreadModes.Color);

    // 創(chuàng)建ORB對(duì)象并調(diào)整參數(shù)
    using var orb = ORB.Create(
        nFeatures: 1000,
        scaleFactor: 1.2f,
        nLevels: 8,
        edgeThreshold: 31,
        firstLevel: 0,
        wtaK: 2,
        scoreType: ORBScoreType.Fast,
        patchSize: 31,
        fastThreshold: 20
    );

    KeyPoint[] keypoints = orb.Detect(src);

    using var result = new Mat();
    Cv2.DrawKeypoints(src, keypoints, result);
    result.SaveImage("orb_tuned_features.jpg");

    Console.WriteLine($"使用調(diào)優(yōu)后的參數(shù)檢測到 {keypoints.Length} 個(gè)ORB特征點(diǎn)");
}