// Draw matches between two images
public static Mat getMatchesImage(Mat query, Mat pattern, MatOfKeyPoint queryKp, MatOfKeyPoint trainKp, MatOfDMatch matches, int maxMatchesDrawn)
{
Mat outImg = new Mat();
List <DMatch> matchesList = matches.toList();
if (matchesList.Count > maxMatchesDrawn)
{
matchesList.RemoveRange(maxMatchesDrawn, matchesList.Count - maxMatchesDrawn);
}
MatOfDMatch tmpMatches = new MatOfDMatch();
tmpMatches.fromList(matchesList);
Features2d.drawMatches
(
query,
queryKp,
pattern,
trainKp,
tmpMatches,
outImg,
new Scalar(0, 200, 0, 255),
Scalar.all(-1),
new MatOfByte()
);
return(outImg);
}
// Use this for initialization
void Start()
{
Texture2D imgTexture = Resources.Load("lena") as Texture2D;
Mat img1Mat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Utils.texture2DToMat(imgTexture, img1Mat);
Debug.Log("img1Mat dst ToString " + img1Mat.ToString());
Mat img2Mat = new Mat(imgTexture.height, imgTexture.width, CvType.CV_8UC3);
Utils.texture2DToMat(imgTexture, img2Mat);
Debug.Log("img2Mat dst ToString " + img2Mat.ToString());
float angle = UnityEngine.Random.Range(0, 360), scale = 1.0f;
Point center = new Point(img2Mat.cols() * 0.5f, img2Mat.rows() * 0.5f);
Mat affine_matrix = Imgproc.getRotationMatrix2D(center, angle, scale);
Imgproc.warpAffine(img1Mat, img2Mat, affine_matrix, img2Mat.size());
FeatureDetector detector = FeatureDetector.create(FeatureDetector.ORB);
DescriptorExtractor extractor = DescriptorExtractor.create(DescriptorExtractor.ORB);
MatOfKeyPoint keypoints1 = new MatOfKeyPoint();
Mat descriptors1 = new Mat();
detector.detect(img1Mat, keypoints1);
extractor.compute(img1Mat, keypoints1, descriptors1);
MatOfKeyPoint keypoints2 = new MatOfKeyPoint();
Mat descriptors2 = new Mat();
detector.detect(img2Mat, keypoints2);
extractor.compute(img2Mat, keypoints2, descriptors2);
DescriptorMatcher matcher = DescriptorMatcher.create(DescriptorMatcher.BRUTEFORCE_HAMMINGLUT);
MatOfDMatch matches = new MatOfDMatch();
matcher.match(descriptors1, descriptors2, matches);
Mat resultImg = new Mat();
Features2d.drawMatches(img1Mat, keypoints1, img2Mat, keypoints2, matches, resultImg);
Texture2D texture = new Texture2D(resultImg.cols(), resultImg.rows(), TextureFormat.RGBA32, false);
Utils.matToTexture2D(resultImg, texture);
gameObject.GetComponent <Renderer> ().material.mainTexture = texture;
}
void Orb()
{
p1Mat = Imgcodecs.imread(Application.dataPath + "/Textures/1.jpg", 1);
p2Mat = Imgcodecs.imread(Application.dataPath + "/Textures/3.jpg", 1);
Imgproc.cvtColor(p1Mat, p1Mat, Imgproc.COLOR_BGR2RGB);
Imgproc.cvtColor(p2Mat, p2Mat, Imgproc.COLOR_BGR2RGB);
Imgproc.resize(p2Mat, p2Mat, new Size(p1Mat.width(), p1Mat.height()));
Debug.Log(p2Mat);
/*
* //仿射变换（矩阵旋转）
* float angle = UnityEngine.Random.Range(0, 360), scale = 1.0f;
* Point center = new Point(img2Mat.cols() * 0.5f, img2Mat.rows() * 0.5f);
*
* Mat affine_matrix = Imgproc.getRotationMatrix2D(center, angle, scale);
* Imgproc.warpAffine(img1Mat, img2Mat, affine_matrix, img2Mat.size());
*
* Texture2D texture = new Texture2D(img2Mat.cols(), img2Mat.rows());
* Utils.matToTexture2D(img2Mat, texture);
* outputRawImage.texture = texture;
*/
ORB detector = ORB.create();
ORB extractor = ORB.create();
//提取图一特征点
MatOfKeyPoint keypoints1 = new MatOfKeyPoint();
Mat descriptors1 = new Mat();
detector.detect(p1Mat, keypoints1);
extractor.compute(p1Mat, keypoints1, descriptors1);
//提取图二特征点
MatOfKeyPoint keypoints2 = new MatOfKeyPoint();
Mat descriptors2 = new Mat();
detector.detect(p2Mat, keypoints2);
extractor.compute(p2Mat, keypoints2, descriptors2);
//第一次匹配结果（密密麻麻）
DescriptorMatcher matcher = DescriptorMatcher.create(DescriptorMatcher.BRUTEFORCE_HAMMINGLUT);
MatOfDMatch matches = new MatOfDMatch();
matcher.match(descriptors1, descriptors2, matches);
//筛选（非官方）
//计算向量距离的最大值/最小值
double max_dist = 0;
double min_dist = 15; //通过距离控制需要的特征。
//（设到10，最终只有2个耳朵匹配。。。）
//（设到15，尾巴也开始匹配。。。。。。）
//新建两个容器存放筛选样本
List <DMatch> matchesArray = matches.toList(); //用Unity版API多转一步
//Debug.Log(matchesArray.Count); //500
List <DMatch> goodmatchesArray = new List <DMatch>();
//Debug.Log(img1Mat.rows()); //512
for (int i = 0; i < matchesArray.Count; i++)
{
Debug.Log("[" + i + "]" + matchesArray[i].distance);
if (matchesArray[i].distance > max_dist)
{
//max_dist = matchesArray[i].distance;
}
if (matchesArray[i].distance < min_dist)
{
min_dist = matchesArray[i].distance;
}
}
//Debug.Log("The max distance is: " + max_dist);
Debug.Log("The min distance is: " + min_dist);
for (int i = 0; i < matchesArray.Count; i++)
{
if (matchesArray[i].distance < 2 * min_dist) //
{
goodmatchesArray.Add(matchesArray[i]);
}
}
MatOfDMatch newMatches = new MatOfDMatch();
newMatches.fromList(goodmatchesArray);
Debug.Log(newMatches.toList().Count); //第二次筛选后符合的
//绘制第二次筛选结果
dstMat = new Mat();
Features2d.drawMatches(p1Mat, keypoints1, p2Mat, keypoints2, newMatches, dstMat);
Texture2D t2d = new Texture2D(dstMat.width(), dstMat.height());
Utils.matToTexture2D(dstMat, t2d);
Sprite sp = Sprite.Create(t2d, new UnityEngine.Rect(0, 0, t2d.width, t2d.height), Vector2.zero);
m_dstImage.sprite = sp;
m_dstImage.preserveAspect = true;
}
private void Update()
{
inputMat = webCamTextureToMatHelper.GetMat();
MatOfKeyPoint camKeyPoints = new MatOfKeyPoint();
Mat camDescriptors = new Mat();
Imgproc.cvtColor(inputMat, grayMat, Imgproc.COLOR_BGR2GRAY);
detector.detect(grayMat, camKeyPoints);
extractor.compute(grayMat, camKeyPoints, camDescriptors);
if (camKeyPoints.toList().Count < 1)
{
return;
}
List <MatOfDMatch> matches = new List <MatOfDMatch>();
matcher.knnMatch(makerDescriptors, camDescriptors, matches, 2);
//-- Filter matches using the Lowe's ratio test
float ratioThresh = 0.75f;
List <DMatch> listOfGoodMatches = new List <DMatch>();
for (int i = 0; i < matches.Count; i++)
{
if (matches[i].rows() > 1)
{
DMatch[] dMatches = matches[i].toArray();
if (dMatches[0].distance < ratioThresh * dMatches[1].distance)
{
listOfGoodMatches.Add(dMatches[0]);
}
}
}
MatOfDMatch goodMatches = new MatOfDMatch();
goodMatches.fromList(listOfGoodMatches);
//-- Draw matches
Mat resultImg = new Mat();
Features2d.drawMatches(makerMat, makerKeyPoints, grayMat, camKeyPoints, goodMatches, resultImg);
//listOfGoodMatches = goodMatches.toList();
////-- Localize the object
//List<Point> obj = new List<Point>();
//List<Point> scene = new List<Point>();
//List<KeyPoint> listOfKeypointsObject = makerKeyPoints.toList();
//List<KeyPoint> listOfKeypointsScene = camKeyPoints.toList();
//for (int i = 0; i < listOfGoodMatches.Count(); i++)
//{
// //-- Get the keypoints from the good matches
// obj.Add(listOfKeypointsObject[listOfGoodMatches[i].queryIdx].pt);
// scene.Add(listOfKeypointsScene[listOfGoodMatches[i].trainIdx].pt);
//}
//MatOfPoint2f objMat = new MatOfPoint2f();
//MatOfPoint2f sceneMat = new MatOfPoint2f();
//objMat.fromList(obj);
//sceneMat.fromList(scene);
//double ransacReprojThreshold = 3.0;
//Mat H = Calib3d.findHomography(objMat, sceneMat, Calib3d.RANSAC, ransacReprojThreshold);
////-- Get the corners from the image_1 ( the object to be "detected" )
//Mat objCorners = new Mat(4, 1, CvType.CV_32FC2);
//Mat sceneCorners = new Mat();
//float[] objCornersData = new float[(int)(objCorners.total() * objCorners.channels())];
//objCorners.get(0, 0, objCornersData);
//objCornersData[0] = 0;
//objCornersData[1] = 0;
//objCornersData[2] = makerMat.cols();
//objCornersData[3] = 0;
//objCornersData[4] = makerMat.cols();
//objCornersData[5] = makerMat.rows();
//objCornersData[6] = 0;
//objCornersData[7] = makerMat.rows();
//objCorners.put(0, 0, objCornersData);
//Core.perspectiveTransform(objCorners, sceneCorners, H);
//byte[] sceneCornersData = new byte[(int)(sceneCorners.total() * sceneCorners.channels())];
//sceneCorners.get(0, 0, sceneCornersData);
////-- Draw lines between the corners (the mapped object in the scene - image_2 )
//Imgproc.line(resultImg, new Point(sceneCornersData[0] + makerMat.cols(), sceneCornersData[1]),
// new Point(sceneCornersData[2] + makerMat.cols(), sceneCornersData[3]), new Scalar(0, 255, 0), 4);
//Imgproc.line(resultImg, new Point(sceneCornersData[2] + makerMat.cols(), sceneCornersData[3]),
// new Point(sceneCornersData[4] + makerMat.cols(), sceneCornersData[5]), new Scalar(0, 255, 0), 4);
//Imgproc.line(resultImg, new Point(sceneCornersData[4] + makerMat.cols(), sceneCornersData[5]),
// new Point(sceneCornersData[6] + makerMat.cols(), sceneCornersData[7]), new Scalar(0, 255, 0), 4);
//Imgproc.line(resultImg, new Point(sceneCornersData[6] + makerMat.cols(), sceneCornersData[7]),
// new Point(sceneCornersData[0] + makerMat.cols(), sceneCornersData[1]), new Scalar(0, 255, 0), 4);
if (!first)
{
texture = new Texture2D(resultImg.cols(), resultImg.rows(), TextureFormat.RGBA32, false);
dstQuad.GetComponent <Renderer>().material.mainTexture = texture;
first = true;
}
Utils.matToTexture2D(resultImg, texture);
}