/// <summary>
/// Finds the pattern.
/// </summary>
/// <returns><c>true</c>, if pattern was found, <c>false</c> otherwise.</returns>
/// <param name="image">Image.</param>
/// <param name="info">Info.</param>
public bool findPattern(Mat image, PatternTrackingInfo info)
{
// Convert input image to gray
getGray(image, ref m_grayImg);
//Cv2.CvtColor(image, m_grayImg, ColorConversionCodes.BGR2GRAY);
// Extract feature points from input gray image
extractFeatures(m_grayImg, ref m_queryKeypoints, ref m_queryDescriptors);
// Get matches with current pattern
getMatches(m_queryDescriptors, ref m_matches);
m_roughHomography = new Mat();
// Find homography transformation and detect good matches
bool homographyFound = refineMatchesWithHomography(
m_queryKeypoints,
m_pattern.keyPoints,
homographyReprojectionThreshold,
ref m_matches,
ref m_roughHomography,
HomographyMethods.Ransac);
if (homographyFound)
{
// If homography refinement enabled improve found transformation
if (enableRatioTest)
{
// Warp image using found homography
Cv2.WarpPerspective(m_grayImg, m_warpedImg, m_roughHomography, m_pattern.size, InterpolationFlags.WarpInverseMap | InterpolationFlags.Cubic);
Cv2.ImShow("second img", m_warpedImg);
KeyPoint[] warpedqueryKeypoints = null;
extractFeatures(m_warpedImg, ref warpedqueryKeypoints, ref m_queryDescriptors);
DMatch[] refinedMatches = null;
// Match with pattern
getMatches(m_queryDescriptors, ref refinedMatches);
m_refinedHomography = new Mat();
// Estimate new refinement homography
homographyFound = refineMatchesWithHomography(
warpedqueryKeypoints,
m_pattern.keyPoints,
homographyReprojectionThreshold,
ref refinedMatches,
ref m_refinedHomography,
HomographyMethods.LMedS);
if (!homographyFound)
{
return(false);
}
info.homography = m_roughHomography * m_refinedHomography;
Cv2.WarpPerspective(m_grayImg, m_warpedImg, info.homography, m_pattern.size, InterpolationFlags.WarpInverseMap | InterpolationFlags.Cubic);
Cv2.ImShow("third img", m_warpedImg);
Console.WriteLine(m_pattern.points2d.Length);
using (Mat src = new Mat(m_pattern.points2d.Length, 1, MatType.CV_32FC2, m_pattern.points2d))
using (Mat dst = new Mat())
{
Cv2.PerspectiveTransform(src, dst, info.homography);
Point2f[] dstArray = new Point2f[dst.Rows * dst.Cols];
dst.GetArray(out dstArray);
for (int j = 0; j < dstArray.Length; j++)
{
Console.WriteLine(dstArray[j]);
}
Point2d[] result = Array.ConvertAll(dstArray, new Converter <Point2f, Point2d>(Point2fToPoint2d));
for (int j = 0; j < result.Length; j++)
{
Console.WriteLine(result[j]);
}
info.points2d = new Mat(result.Length, 1, MatType.CV_32FC2, result);
//for (int j = 0; j < info.points2d.Rows; j++)
// Console.WriteLine(info.points2d.Row(j));
var s = "break point";
//return result;
}
}
else
{
info.homography = m_roughHomography;
using (Mat src = new Mat(m_pattern.points2d.Length, 1, MatType.CV_32FC2, m_pattern.points2d))
using (Mat dst = new Mat())
{
Cv2.PerspectiveTransform(src, dst, info.homography);
Point2f[] dstArray = new Point2f[dst.Rows * dst.Cols];
dst.GetArray(out dstArray);
Point2d[] result = Array.ConvertAll(dstArray, new Converter <Point2f, Point2d>(Point2fToPoint2d));
info.points2d = new Mat(result.Length, 1, MatType.CV_32FC2, result);
}
}
}
return(homographyFound);
}
/// <summary>
/// Finds the pattern.
/// </summary>
/// <returns><c>true</c>, if pattern was found, <c>false</c> otherwise.</returns>
/// <param name="image">Image.</param>
/// <param name="info">Info.</param>
public bool findPattern(Mat image, PatternTrackingInfo info)
{
// Convert input image to gray
getGray(image, m_grayImg);
// Extract feature points from input gray image
extractFeatures(m_grayImg, m_queryKeypoints, m_queryDescriptors);
// Get matches with current pattern
getMatches(m_queryDescriptors, m_matches);
//(GameObject.Find ("DebugHelpers").GetComponent<DebugHelpers> ()).showMat (DebugHelpers.getMatchesImage (m_grayImg, m_pattern.grayImg, m_queryKeypoints, m_pattern.keypoints, m_matches, 100));
// Find homography transformation and detect good matches
bool homographyFound = refineMatchesWithHomography(
m_queryKeypoints,
m_pattern.keypoints,
homographyReprojectionThreshold,
m_matches,
m_roughHomography);
if (homographyFound)
{
//(GameObject.Find ("DebugHelpers").GetComponent<DebugHelpers> ()).showMat (DebugHelpers.getMatchesImage (m_grayImg, m_pattern.grayImg, m_queryKeypoints, m_pattern.keypoints, m_matches, 100));
// If homography refinement enabled improve found transformation
if (enableHomographyRefinement)
{
// Warp image using found homography
Imgproc.warpPerspective(m_grayImg, m_warpedImg, m_roughHomography, m_pattern.size, Imgproc.WARP_INVERSE_MAP | Imgproc.INTER_CUBIC);
//(GameObject.Find ("DebugHelpers").GetComponent<DebugHelpers> ()).showMat(m_warpedImg);
// Get refined matches:
using (MatOfKeyPoint warpedKeypoints = new MatOfKeyPoint())
using (MatOfDMatch refinedMatches = new MatOfDMatch())
{
// Detect features on warped image
extractFeatures(m_warpedImg, warpedKeypoints, m_queryDescriptors);
// Match with pattern
getMatches(m_queryDescriptors, refinedMatches);
// Estimate new refinement homography
homographyFound = refineMatchesWithHomography(
warpedKeypoints,
m_pattern.keypoints,
homographyReprojectionThreshold,
refinedMatches,
m_refinedHomography);
}
//(GameObject.Find ("DebugHelpers").GetComponent<DebugHelpers> ()).showMat(DebugHelpers.getMatchesImage(m_warpedImg, m_pattern.grayImg, warpedKeypoints, m_pattern.keypoints, refinedMatches, 100));
// Get a result homography as result of matrix product of refined and rough homographies:
// info.homography = m_roughHomography * m_refinedHomography;
Core.gemm(m_roughHomography, m_refinedHomography, 1, new Mat(), 0, info.homography);
//Debug.Log ("info.homography " + info.homography.ToString ());
// Transform contour with rough homography
//Core.perspectiveTransform (m_pattern.points2d, info.points2d, m_roughHomography);
//info.draw2dContour (image, new Scalar (200, 0, 0, 255));
// Transform contour with precise homography
Core.perspectiveTransform(m_pattern.points2d, info.points2d, info.homography);
//info.draw2dContour (image, new Scalar (0, 200, 0, 255));
}
else
{
info.homography = m_roughHomography;
//Debug.Log ("m_roughHomography " + m_roughHomography.ToString ());
//Debug.Log ("info.homography " + info.homography.ToString ());
// Transform contour with rough homography
Core.perspectiveTransform(m_pattern.points2d, info.points2d, m_roughHomography);
//info.draw2dContour (image, new Scalar (0, 200, 0, 255));
}
}
//(GameObject.Find ("DebugHelpers").GetComponent<DebugHelpers> ()).showMat (DebugHelpers.getMatchesImage (m_grayImg, m_pattern.grayImg, m_queryKeypoints, m_pattern.keypoints, m_matches, 100));
//Debug.Log ("Features:" + m_queryKeypoints.ToString () + " Matches: " + m_matches.ToString ());
return(homographyFound);
}
