OpenCV Android 模板匹配

    //模板文件名
    private static String [] template_name={ "right1.jpg","left1.jpg","direct1.jpg","undirect1.jpg","unthrough1.jpg","return1.jpg","right2.jpg","left2.jpg","direct2.jpg","undirect2.jpg","unthrough2.jpg","return2.jpg","right3.jpg"};
    
    private   static  double [] template_int=new double[template_name.length];
    public  static  String Signal_re(Mat mat){
        // 创建ORB特征检测器
        ORB orb = ORB.create();
        Mat gray=new Mat();
        Imgproc.cvtColor(mat, gray, Imgproc.COLOR_BGR2GRAY);

        // 提取图像1和图像2的ORB特征点和描述符
        MatOfKeyPoint keypoints1 = new MatOfKeyPoint();
        MatOfKeyPoint keypoints2 = new MatOfKeyPoint();
        Mat descriptors1 = new Mat();
        Mat descriptors2 = new Mat();
        orb.detectAndCompute(gray, new Mat(), keypoints1, descriptors1);
        Mat templat_mat = new Mat();
        Mat templat_gray = new Mat();

        // 创建特征点匹配器
        MatOfDMatch matches = new MatOfDMatch();
        DescriptorMatcher matcher =            DescriptorMatcher.create(DescriptorMatcher.BRUTEFORCE_HAMMING);

        for (int i = 0; i < template_name.length; i++) {
            templat_mat = Activity_test.read_pic(false, template_name[i], 6);
            Imgproc.cvtColor(templat_mat, templat_gray, Imgproc.COLOR_BGR2GRAY);
            orb.detectAndCompute(templat_gray, new Mat(), keypoints2, descriptors2);
            matcher.match(descriptors1, descriptors2, matches);

            // 计算匹配距离的分布
            List<DMatch> matchesList = matches.toList();
            double maxDist = 0;
            double minDist = 20;
 
            // 根据匹配距离的分布，设定匹配阈值
            double threshold = 2 * minDist;
            // 筛选匹配点
            List<DMatch> goodMatches = new ArrayList<DMatch>();
            for (int k = 0; k < matchesList.size(); k++) {
                if (matchesList.get(k).distance < threshold) {
                    goodMatches.add(matchesList.get(k));
                }
            }
 
            template_int[i]=(float)goodMatches.size()/(float)matchesList.size();
        }
        double max=template_int[0];
        int flag_index=0;
        for (int i = 1; i <template_int.length ; i++) {
            if(template_int[i]>max){
                max=template_int[i];
                flag_index=i;
            }
        }
        //匹配度，可更改调节阈值，返回匹配到的文件名
        if(template_int[flag_index]>0.1){
            Log.d("Signal",template_name[flag_index]);
            return template_name[flag_index];
        }

        return null;