OpenCvSharp通过特征点图像匹配SIFT ,SURF,template matching

SIFT algorithm

public static Bitmap MatchPicBySift(Bitmap imgSrc, Bitmap imgSub)
        {
            using (Mat matSrc = imgSrc.ToMat())
            using (Mat matTo = imgSub.ToMat())
            using (Mat matSrcRet = new Mat())
            using (Mat matToRet = new Mat())
            {
                KeyPoint[] keyPointsSrc, keyPointsTo;
                using (var sift = OpenCvSharp.XFeatures2D.SIFT.Create())
                {
                    sift.DetectAndCompute(matSrc, null, out keyPointsSrc, matSrcRet);
                    sift.DetectAndCompute(matTo, null, out keyPointsTo, matToRet);
                }
                using (var bfMatcher = new OpenCvSharp.BFMatcher())
                {
                    var matches = bfMatcher.KnnMatch(matSrcRet, matToRet, k: 2);

                    var pointsSrc = new List<Point2f>();
                    var pointsDst = new List<Point2f>();
                    var goodMatches = new List<DMatch>();
                    foreach (DMatch[] items in matches.Where(x => x.Length > 1))
                    {
                        if (items[0].Distance < 0.5 * items[1].Distance)
                        {
                            pointsSrc.Add(keyPointsSrc[items[0].QueryIdx].Pt);
                            pointsDst.Add(keyPointsTo[items[0].TrainIdx].Pt);
                            goodMatches.Add(items[0]);
                            Console.WriteLine($"{keyPointsSrc[items[0].QueryIdx].Pt.X}, {keyPointsSrc[items[0].QueryIdx].Pt.Y}");
                        }
                    }

                    var outMat = new Mat();

                    // algorithm RANSAC Filter the matched results
                    var pSrc = pointsSrc.ConvertAll(Point2fToPoint2d);
                    var pDst = pointsDst.ConvertAll(Point2fToPoint2d);
                    var outMask = new Mat();
                    // If the original matching result is null, Skip the filtering step
                    if (pSrc.Count > 0 && pDst.Count > 0)
                        Cv2.FindHomography(pSrc, pDst, HomographyMethods.Ransac, mask: outMask);
                    // If passed RANSAC After processing, the matching points are more than 10.,Only filters are used. Otherwise, use the original matching point result(When the matching point is too small, it passes through RANSAC After treatment,It is possible to get the result of 0 matching points.).
                    if (outMask.Rows > 10)
                    {
                        byte[] maskBytes = new byte[outMask.Rows * outMask.Cols];
                        outMask.GetArray(0, 0, maskBytes);
                        Cv2.DrawMatches(matSrc, keyPointsSrc, matTo, keyPointsTo, goodMatches, outMat, matchesMask: maskBytes, flags: DrawMatchesFlags.NotDrawSinglePoints);
                    }
                    else
                        Cv2.DrawMatches(matSrc, keyPointsSrc, matTo, keyPointsTo, goodMatches, outMat, flags: DrawMatchesFlags.NotDrawSinglePoints);
                    return OpenCvSharp.Extensions.BitmapConverter.ToBitmap(outMat);
                }
            }
        }

SURF algorithm

public static Bitmap MatchPicBySurf(Bitmap imgSrc, Bitmap imgSub, double threshold = 400)
        {
            using (Mat matSrc = imgSrc.ToMat())
            using (Mat matTo = imgSub.ToMat())
            using (Mat matSrcRet = new Mat())
            using (Mat matToRet = new Mat())
            {
                KeyPoint[] keyPointsSrc, keyPointsTo;
                using (var surf = OpenCvSharp.XFeatures2D.SURF.Create(threshold,4,3,true,true))
                {
                    surf.DetectAndCompute(matSrc, null, out keyPointsSrc, matSrcRet);
                    surf.DetectAndCompute(matTo, null, out keyPointsTo, matToRet);
                }
               
                using (var flnMatcher = new OpenCvSharp.FlannBasedMatcher())
                {
                    var matches = flnMatcher.Match(matSrcRet, matToRet);
                    //Finding the Minimum and Maximum Distance
                    double minDistance = 1000;//Backward approximation
                    double maxDistance = 0;
                    for (int i = 0; i < matSrcRet.Rows; i++)
                    {
                        double distance = matches[i].Distance;
                        if (distance > maxDistance)
                        {
                            maxDistance = distance;
                        }
                        if (distance < minDistance)
                        {
                            minDistance = distance;
                        }
                    }
                    Console.WriteLine($"max distance : {maxDistance}");
                    Console.WriteLine($"min distance : {minDistance}");

                    var pointsSrc = new List<Point2f>();
                    var pointsDst = new List<Point2f>();
                    //Screening better matching points
                    var goodMatches = new List<DMatch>();
                    for (int i = 0; i < matSrcRet.Rows; i++)
                    {
                        double distance = matches[i].Distance;
                        if (distance < Math.Max(minDistance * 2, 0.02))
                        {
                            pointsSrc.Add(keyPointsSrc[matches[i].QueryIdx].Pt);
                            pointsDst.Add(keyPointsTo[matches[i].TrainIdx].Pt);
                            //Compression of new ones with distances less than ranges DMatch
                            goodMatches.Add(matches[i]);
                        }
                    }

                    var outMat = new Mat();

                    // algorithm RANSAC Filter the matched results
                    var pSrc = pointsSrc.ConvertAll(Point2fToPoint2d);
                    var pDst = pointsDst.ConvertAll(Point2fToPoint2d);
                    var outMask = new Mat();
                    // If the original matching result is null, Skip the filtering step
                    if (pSrc.Count > 0 && pDst.Count > 0)
                        Cv2.FindHomography(pSrc, pDst, HomographyMethods.Ransac, mask: outMask);
                    // If passed RANSAC After processing, the matching points are more than 10.,Only filters are used. Otherwise, use the original matching point result(When the matching point is too small, it passes through RANSAC After treatment,It's possible to get the result of 0 matching points.).
                    if (outMask.Rows > 10)
                    {
                        byte[] maskBytes = new byte[outMask.Rows * outMask.Cols];
                        outMask.GetArray(0, 0, maskBytes);
                        Cv2.DrawMatches(matSrc, keyPointsSrc, matTo, keyPointsTo, goodMatches, outMat, matchesMask: maskBytes, flags: DrawMatchesFlags.NotDrawSinglePoints);
                    }
                    else
                        Cv2.DrawMatches(matSrc, keyPointsSrc, matTo, keyPointsTo, goodMatches, outMat, flags: DrawMatchesFlags.NotDrawSinglePoints);
                    return OpenCvSharp.Extensions.BitmapConverter.ToBitmap(outMat);
                }
            }
        }

template matching

public static System.Drawing.Point FindPicFromImage(Bitmap imgSrc, Bitmap imgSub, double threshold = 0.9)
        {
            OpenCvSharp.Mat srcMat = null;
            OpenCvSharp.Mat dstMat = null;
            OpenCvSharp.OutputArray outArray = null;
            try
            {
                srcMat = imgSrc.ToMat();
                dstMat = imgSub.ToMat();
                outArray = OpenCvSharp.OutputArray.Create(srcMat);
               
                OpenCvSharp.Cv2.MatchTemplate(srcMat, dstMat, outArray, Common.templateMatchModes);
                double minValue, maxValue;
                OpenCvSharp.Point location, point;
                OpenCvSharp.Cv2.MinMaxLoc(OpenCvSharp.InputArray.Create(outArray.GetMat()), out minValue, out maxValue, out location, out point);
                Console.WriteLine(maxValue);
                if (maxValue >= threshold)
                    return new System.Drawing.Point(point.X, point.Y);
                return System.Drawing.Point.Empty;
            }
            catch(Exception ex)
            {
                return System.Drawing.Point.Empty;
            }
            finally
            {
                if (srcMat != null)
                    srcMat.Dispose();
                if (dstMat != null)
                    dstMat.Dispose();
                if (outArray != null)
                    outArray.Dispose();
            }
        }