def scene_features(self, feat, maxmem, i1, i2):
try:
ref_img, depth = self.render_scene(i1, i2)
except InvalidSceneException:
return None
# get keypoints and descriptors
ref_kp, ref_desc, self._latest_detector = KeypointAlgo.detect_features(ref_img, feat, maxmem=maxmem,
max_feats=self.MAX_FEATURES, for_ref=True)
# save only 2d image coordinates, scrap scale, orientation etc
ref_kp_2d = np.array([p.pt for p in ref_kp], dtype='float32')
# get 3d coordinates
ref_kp_3d = KeypointAlgo.inverse_project(self.system_model, ref_kp_2d, depth, self.render_z, self._ref_img_sc)
if False:
mm_dist = self.system_model.min_med_distance
if False:
pos = (0, 0, -mm_dist)
qfin = tools.ypr_to_q(sc_ast_lat, 0, sc_ast_lon)
light_v = tools.spherical2cartesian(light_lat, light_lon, 1)
reimg = self.render_engine.render(self.obj_idx, pos, qfin, light_v)
reimg = cv2.cvtColor(reimg, cv2.COLOR_RGB2GRAY)
img = np.concatenate((cv2.resize(ref_img, (self.system_model.view_width, self.system_model.view_height)), reimg), axis=1)
else:
ref_kp = [cv2.KeyPoint(*self._cam.calc_img_xy(x, -y, -z-mm_dist), 1) for x, y, z in ref_kp_3d]
img = cv2.drawKeypoints(ref_img, ref_kp, ref_img.copy(), (0, 0, 255), flags=cv2.DRAW_MATCHES_FLAGS_DEFAULT)
cv2.imshow('res', img)
cv2.waitKey()
return np.array(ref_desc), ref_kp_2d, ref_kp_3d
elif method == 'all':
feats = {
KeypointAlgo.SIFT: 'sift',
KeypointAlgo.SURF: 'surf',
KeypointAlgo.ORB: 'orb',
KeypointAlgo.AKAZE: 'akaze',
}
sm = RosettaSystemModel()
re = RenderEngine(sm.cam.width, sm.cam.height)
obj_idx = re.load_object(sm.asteroid.target_model_file)
d = KeypointAlgo(sm, re, obj_idx)
for feat, method in feats.items():
if False:
kp, desc, detector = d.detect_features(img, feat, 0, nfeats=100)
out = cv2.drawKeypoints(
img,
kp,
img.copy(), (0, 0, 255),
flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
else:
d.FEATURE_FILTERING_RELATIVE_GRID_SIZE = 0.01
d.FEATURE_FILTERING_FALLBACK_GRID_SIZE = 2
ee = 0
if len(sys.argv) <= 3 or sys.argv[3] == '2':
d.FEATURE_FILTERING_SCHEME = d.FFS_SIMPLE_GRID
ee = sm.pixel_extent(abs(sm.min_med_distance))
elif sys.argv[3] == '1':
d.FEATURE_FILTERING_SCHEME = d.FFS_SIMPLE_GRID
else: