void Run(Mat src1, Mat src2)
{
IList <DMatch> matches;
MatOfKeyPoint keypoints1 = new MatOfKeyPoint(), keypoints2 = new MatOfKeyPoint();
if (OutLookAR.Utils.ORBMatcher(src1, src2, keypoints1, keypoints2, out matches) == 0)
{
IList <DMatch> lowPassFilterMatches = matches.LowPassFilter();
List <Point> matchPoint1L = new List <Point>();
List <Point> matchPoint2L = new List <Point>();
foreach (DMatch match in lowPassFilterMatches)
{
matchPoint1L.Add(keypoints1.toArray()[match.queryIdx].pt);
matchPoint2L.Add(keypoints2.toArray()[match.trainIdx].pt);
}
if (matchPoint1L.Count > 0)
{
ARTransform ARtorans = _lMedS.findARTransform(matchPoint2L.ToArray(), matchPoint1L.ToArray());
Debug.Log(string.Format("matchPoint1L.Count = {0} ,ARtorans.Error = {1}", matchPoint1L.Count, ARtorans.Error));
if (ARtorans.Error < filter)
{
Vector2 TTheta = new Vector2(HorizontalAngle * ARtorans.Tx / Width, VerticalAngle * ARtorans.Ty / Height);
Matrix2x2 R = new Matrix2x2((float)Math.Cos(-(double)ARtorans.Radian), -(float)Math.Sin(-(double)ARtorans.Radian), (float)Math.Sin(-(double)ARtorans.Radian), (float)Math.Cos(-(double)ARtorans.Radian));
Vector2 TRTheta = R * TTheta;
Debug.Log(R + " * " + TTheta + " = " + TRTheta);
float LthetaX = TRTheta.x,
LthetaY = TRTheta.y;
CameraObject.transform.localRotation = Quaternion.Euler(-LthetaY, -LthetaX, ARtorans.Radian.Degree());
Debug.Log(ARtorans);
}
}
}
}
void Run()
{
if (MapDescriptors == null)
{
CaptureMat.ORBPointFeature(MapKeyPoints, MapDescriptors);
}
IList <DMatch> matches;
MatOfKeyPoint keypoints = new MatOfKeyPoint();
MatOfFloat descriptors = new MatOfFloat();
CaptureMat.ORBPointFeature(keypoints, descriptors);
if (descriptors.type() == CvType.CV_8U && MapDescriptors.type() == CvType.CV_8U)
{
matches = Utils.CrossMatcher(descriptors, MapDescriptors);
if (matches.Count <= 0)
{
return;
}
}
else
{
return;
}
IList <DMatch> lowPassFilterMatches = matches.LowPassFilter();
List <Point> matchPoint1L = new List <Point>();
List <Point> matchPoint2L = new List <Point>();
foreach (DMatch match in lowPassFilterMatches)
{
matchPoint1L.Add(keypoints.toArray()[match.queryIdx].pt);
matchPoint2L.Add(MapKeyPoints.toArray()[match.trainIdx].pt);
}
if (matchPoint1L.Count > 0)
{
ARTransform ARtorans = _lMedS.findARTransform(matchPoint2L.ToArray(), matchPoint1L.ToArray());
Debug.Log(string.Format("matchPoint1L.Count = {0} ,ARtorans.Error = {1}", matchPoint1L.Count, ARtorans.Error));
if (ARtorans.Error < filter)
{
Vector2 TTheta = new Vector2(HorizontalAngle * ARtorans.Tx / Width, VerticalAngle * ARtorans.Ty / Height);
Matrix2x2 R = new Matrix2x2((float)Math.Cos(-(double)ARtorans.Radian), -(float)Math.Sin(-(double)ARtorans.Radian), (float)Math.Sin(-(double)ARtorans.Radian), (float)Math.Cos(-(double)ARtorans.Radian));
Vector2 TRTheta = R * TTheta;
Debug.Log(R + " * " + TTheta + " = " + TRTheta);
float LthetaX = TRTheta.x,
LthetaY = TRTheta.y;
CameraObject.transform.localRotation = Quaternion.Euler(-LthetaY, -LthetaX, ARtorans.Radian.Degree());
Debug.Log(ARtorans);
}
}
}
