def sift_train(self, images, n_clusters=120, n_jobs=-1):
"""
利用SIFT，训练特征提取器(训练KMeans)
只利用SIFT得到描述子是不够的，因为每幅图片的描述子维度太高而且数量不一
致，所以利用词袋模型将这些描述子聚类得到直方图。该方法就是训练聚类器，
以便能从描述子得到最终的直方图。
Parameters
----------
images : 列表
要用来训练的图片的集合。列表中的每个图片都是二维的numpy数组（灰度
图）。
c_clusters : int
描述子聚类的类数，即特征向量的维度。
n_jobs : int
训练时用到的CPU核心数，如果是-1则使用全部核心。
"""
sift = SIFT_create()
descs = np.array([sift.detectAndCompute(img, None)[1] for img in images])
# Sometimes descriptor is None, turn it into np.ndarray type.
descs = [d if isinstance(d, np.ndarray) else
np.array([]).reshape(0, 128).astype('float32') for d in descs]
# 训练好的聚类器放入self.red
self.red = KMeans(n_clusters=n_clusters, n_jobs=n_jobs,
random_state=42).fit(np.vstack(descs))
def sift_train(self, images, n_clusters=120, n_jobs=-1):
"""
利用SIFT，训练特征提取器(训练KMeans)
只利用SIFT得到描述子是不够的，因为每幅图片的描述子维度太高而且数量不一
致，所以利用词袋模型将这些描述子聚类得到直方图。该方法就是训练聚类器，
以便能从描述子得到最终的直方图。
Parameters
----------
images : 列表
要用来训练的图片的集合。列表中的每个图片都是二维的numpy数组（灰度
图）。
c_clusters : int
描述子聚类的类数，即特征向量的维度。
n_jobs : int
训练时用到的CPU核心数，如果是-1则使用全部核心。
"""
sift = SIFT_create()
descs = np.array(
[sift.detectAndCompute(img, None)[1] for img in images])
# Sometimes descriptor is None, turn it into np.ndarray type.
descs = [
d if isinstance(d, np.ndarray) else np.array([]).reshape(
0, 128).astype('float32') for d in descs
]
# 训练好的聚类器放入self.red
self.red = KMeans(n_clusters=n_clusters,
n_jobs=n_jobs,
random_state=42).fit(np.vstack(descs))
def image2descriptors(imlist, descriptor='ORB'): """ For each image in the imlist list extract the given descriptor (ORB and SIFT supported) Return the lists : [keypoint], [descriptor] """ from cv2 import imread desc = [] key = [] if(descriptor=='ORB'): from cv2 import ORB_create for imname in imlist: im = imread(imname) k, d = ORB_create().detectAndCompute(im, None) desc.append(d) key.append(k) if(descriptor=='BRISK'): from cv2 import BRISK_create for imname in imlist: im = imread(imname) k, d = BRISK_create().detectAndCompute(im, None) desc.append(d) key.append(k) elif(descriptor=="SIFT"): from cv2.xfeatures2d import SIFT_create for imname in imlist: im = imread(imname) k, d = SIFT_create().detectAndCompute(im, None) desc.append(d) key.append(k) else: print 'Desc is not equal to ORB or to SIFT' print 'bordel' return key, desc
def __init__(self,
action_space,
feature_type=None,
filter_features=None,
max_time_steps=100,
distance_threshold=4.0,
**kwargs):
"""
filter_features indicates whether to filter out key points that are not
on the object in the current image. Key points in the target image are
always filtered out.
"""
SimpleQuadPanda3dEnv.__init__(self, action_space, **kwargs)
ServoingEnv.__init__(self,
env=self,
max_time_steps=max_time_steps,
distance_threshold=distance_threshold)
lens = self.camera_node.node().getLens()
self._observation_space.spaces['points'] = BoxSpace(
np.array([-np.inf, lens.getNear(), -np.inf]),
np.array([np.inf, lens.getFar(), np.inf]))
film_size = tuple(int(s) for s in lens.getFilmSize())
self.mask_camera_sensor = Panda3dMaskCameraSensor(
self.app, (self.skybox_node, self.city_node),
size=film_size,
near_far=(lens.getNear(), lens.getFar()),
hfov=lens.getFov())
for cam in self.mask_camera_sensor.cam:
cam.reparentTo(self.camera_sensor.cam)
self.filter_features = True if filter_features is None else False
self._feature_type = feature_type or 'sift'
if cv2.__version__.split('.')[0] == '3':
from cv2.xfeatures2d import SIFT_create, SURF_create
from cv2 import ORB_create
if self.feature_type == 'orb':
# https://github.com/opencv/opencv/issues/6081
cv2.ocl.setUseOpenCL(False)
else:
SIFT_create = cv2.SIFT
SURF_create = cv2.SURF
ORB_create = cv2.ORB
if self.feature_type == 'sift':
self._feature_extractor = SIFT_create()
elif self.feature_type == 'surf':
self._feature_extractor = SURF_create()
elif self.feature_type == 'orb':
self._feature_extractor = ORB_create()
else:
raise ValueError("Unknown feature extractor %s" %
self.feature_type)
if self.feature_type == 'orb':
self._matcher = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=True)
else:
self._matcher = cv2.BFMatcher(cv2.NORM_L2, crossCheck=True)
self._target_key_points = None
self._target_descriptors = None
def main():
# Parse command line and configure logging level
opts = docopt.docopt(__doc__)
logging.basicConfig(level=logging.WARN if opts['--quiet'] else logging.INFO)
feat_detector = SIFT_create()
# Determine which save function to use.
save_fn, out_format = save_npz, 'npz'
if opts['--lowe']:
save_fn, out_format = save_lowe, 'key'
im_glob = os.path.join(opts['<imgdir>'], opts['--imglob'])
for im_pn in glob.glob(im_glob):
logging.info('Processing %s...', im_pn)
# Construct the mask and features path
im_bn, im_ext = os.path.splitext(os.path.basename(im_pn))
mask_pn = os.path.join(opts['<maskdir>'], opts['--maskformat'].format(
basename=im_bn, ext=im_ext
))
out_pn = os.path.join(opts['<outdir>'], opts['--outformat'].format(
basename=im_bn, ext=im_ext, format=out_format
))
# Compute hashes of image and mask
im_hash = sha256_file(im_pn)
mask_hash = sha256_file(mask_pn)
# Load the image and mask from disk
im = np.asarray(Image.open(im_pn).convert('L'))
mask = np.asarray(Image.open(mask_pn).convert('L'))
# Detect keypoints and features
kps, descs = feat_detector.detectAndCompute(im, mask)
metadata = {
'image_path': os.path.abspath(im_pn),
'mask_path': os.path.abspath(mask_pn),
'image_sha256': im_hash,
'mask_sha256': mask_hash,
}
# Save output
save_fn(out_pn, kps, descs, metadata)
def find_features_in_array_SIFT(self, sub_image, main_image, debug=False):
# Initiate SIFT detector
sift = SIFT_create()
# find the keypoints and descriptors with SIFT
kp1, des1 = sift.detectAndCompute(sub_image, None)
kp2, des2 = sift.detectAndCompute(main_image, None)
# BFMatcher with default params
bf = cv2.BFMatcher()
matches = bf.knnMatch(des1, des2, k=2)
logging.debug("Found {} possible matches".format(len(matches)))
ret_list = []
good = []
for m, n in matches:
if m.distance < 0.75 * n.distance:
good.append([m])
good.sort(key=lambda x: x[0].distance)
if debug:
# cv2.drawMatchesKnn expects list of lists as matches.
img3 = cv2.drawMatchesKnn(sub_image,
kp1,
main_image,
kp2,
good,
flags=2,
outImg=None,
matchColor=(255, 255, 0))
plt.imshow(img3), plt.show()
ret_list = []
for match in good:
index = match[0].trainIdx
point = kp2[index].pt
ret_list.append((int(point[0]), int(point[1])))
logging.debug("After filtering {}".format(len(good)))
return ret_list
class SIFTDetector(Detector):
def __init__(self):
Detector.__init__(self)
self.SIFT = SIFT_create()
def __repr__(self):
return "SIFTDetector(SIFT={SIFT}".format(SIFT=self.SIFT)
def detect(self, image):
keypoints, descriptors = self.SIFT.detectAndCompute(image.cv_image, None)
return keypoints, descriptors
def sift_extract(self, image):
"""
利用SIFT，对给定的图片提取特征向量。使用前必须先初始化特征提取器。
Parameters
----
image : 二维numpy数组
灰度图。
Returns
-------
一维numpy数组
图片的特征向量。
"""
assert self.red, "self.red should be initial!"
n_clusters = self.red.n_clusters # 聚类的数量
features = np.zeros(n_clusters) # 提取到的特征
sift = SIFT_create()
descriptors = sift.detectAndCompute(image, None)[1]
if descriptors is None: # 如果没有找到一个描述子，就返回全是0的数组
return features
y = self.red.predict(descriptors) # 对描述子聚类
features[list(set(y))] = 1 # 得到最终的特征
return features
def sift_extract(self, image):
"""
利用SIFT，对给定的图片提取特征向量。使用前必须先初始化特征提取器。
Parameters
----
image : 二维numpy数组
灰度图。
Returns
-------
一维numpy数组
图片的特征向量。
"""
assert self.red, "self.red should be initial!"
n_clusters = self.red.n_clusters # 聚类的数量
features = np.zeros(n_clusters) # 提取到的特征
sift = SIFT_create()
descriptors = sift.detectAndCompute(image, None)[1]
if descriptors is None: # 如果没有找到一个描述子，就返回全是0的数组
return features
y = self.red.predict(descriptors) # 对描述子聚类
features[list(set(y))] = 1 # 得到最终的特征
return features
def getKpAndDescriptors(self, img, detector="sift"):
if detector.lower() == "harris":
thr = 0.01
size = 2
dst = cv2.cornerHarris(cv2.cvtColor(img, cv2.COLOR_BGR2GRAY), 2, 3, 0.04)
dst = cv2.dilate(dst, None)
kp = np.argwhere(dst > thr * dst.max())
key_points = [cv2.KeyPoint(k[0], k[1], 2) for k in kp]
sift_creator = SIFT_create()
__, descriptors = sift_creator.compute(cv2.cvtColor(img, cv2.COLOR_BGR2GRAY), key_points)
return descriptors[:100]
elif detector.lower() == "sift":
sift_creator = SIFT_create()
kp, descriptors = sift_creator.detectAndCompute(cv2.cvtColor(img, cv2.COLOR_BGR2GRAY), None)
return descriptors[:100]
sift_2 = get_sift_descriptor(rotate_image_2, rotate_interest_points_2)
# Get the matched pairs of points
matched_pairs = create_matched_pairs(sift_1, sift_2, 0.5)
# Plot the matched pairs of feature points
large_image = match_image_points(rotate_image_1, rotate_image_2, rotate_interest_points_1, rotate_interest_points_2,
matched_pairs)
plot_image(large_image, 'Matched Interest Points')
# Read left and right image for panoramic stitching
im_left = imread('.\sample image\DT_left.jpg')
im_right = imread('.\sample image\DT_right.jpg')
# Create the SIFT feature point detector object
sift = SIFT_create()
# Identify the keypoints and SIFT descriptors
skp_left = sift.detect(im_left)
skp_right = sift.detect(im_right)
skp_left, sd_left = sift.compute(im_left, skp_left)
skp_right, sd_right = sift.compute(im_right, skp_right)
# Plot the keypoints on the image
keypoints_left = draw_keypoints(im_left, skp_left)
plot_image(keypoints_left, 'Keypoints on Left Image')
keypoints_right = draw_keypoints(im_right, skp_right)
plot_image(keypoints_right, 'Keypoints on Right Image')
# Adjust the descriptors to be of equal sizes
if sd_left.size < sd_right.size:
def __init__(self):
Detector.__init__(self)
self.SIFT = SIFT_create()
def spoj(leva, desna, sleva=False, nove=None, orig=None):
# Ukoliko nisu prosledjene tacke, moraju se naci
if nove is None or orig is None \
or not nove or not orig \
or len(nove) != len(orig) \
or len(nove) < 4:
# Log poruka o akciji
if LOGUJ:
print()
print('Traže se korespondencije.')
# Upotreba SIFT (scale-invariant feature transform)
# algoritma za pronalazak zanimljivih tacaka na slikama
sift = SIFT_create()
kpl, desl = sift.detectAndCompute(leva, None)
kpd, desd = sift.detectAndCompute(desna, None)
# Uparivanje dobijenih deskriptora
# brute-force metodom najblizih suseda
parovi = BFMatcher().knnMatch(desd, desl, k=2)
# Filtriranje parova izuzimanjem onih previse
# dalekih; ovo nije neophodno, ali olaksava
# posao RANSAC-u i znatno ga ubrzava
bliski = [m for m, n in parovi if m.distance < 0.5 * n.distance]
# Neophodna su barem cetiri para za
# potrebe odredjivanja projekcije
if len(bliski) < 4:
raise ValueError
# Izdvajanje originala (sa desne slike)
# i slika (sa leve slike) za projekciju
orig = np.float32([kpd[m.queryIdx].pt for m in bliski]).reshape(-1, 2)
nove = np.float32([kpl[m.trainIdx].pt for m in bliski]).reshape(-1, 2)
# Log poruka o akciji
if LOGUJ:
print('Uspešno odabrane korespondencije.')
elif LOGUJ:
print()
# Log poruka o akciji
if LOGUJ:
print('Određuje se transformacija.')
# Izracunavanje matrice projekcije
M = RANSAC(nove, orig)
if sleva:
M = LA.inv(M)
# Log poruka o akciji
if LOGUJ:
print('Uspešno određena transformacija.')
# Dimenzije ulaznih slika
dim1 = leva.shape[1], leva.shape[0]
dim2 = desna.shape[1], desna.shape[0]
if sleva:
dim1, dim2 = dim2, dim1
# Pronalazak tacaka van slike
cosk = np.array([[0, 0, 1], [dim2[0] - 1, 0, 1], [0, dim2[1] - 1, 1],
[dim2[0] - 1, dim2[1] - 1, 1]])
cosk = np.array([*map(lambda x: M @ x, cosk)])
cosk = np.array([*map(lambda x: [x[0] / x[2], x[1] / x[2], 1], cosk)])
mini = cosk[:, 0].min(), cosk[:, 1].min()
mini = [*map(lambda x: abs(ceil(min(x, 0))), mini)]
# Nova matrica, sa dodatkom translacije koja
# dosad nevidljive elemente smesta na sliku
M = np.array([[1, 0, mini[0]], [0, 1, mini[1]], [0, 0, 1]]) @ M
# Dimenzije slike koja nije fiksirana
cosk = np.array(
[*map(lambda x: [x[0] + mini[0], x[1] + mini[1], 1], cosk)])
dim = (ceil(max(cosk[:, 0].max() + 1, dim1[0] + mini[0])),
ceil(max(cosk[:, 1].max() + 1, dim1[1] + mini[1])))
# Obuhvatajuci pravougaonik (bounding box)
# slike koja nije fiksna zarad ustede vremena;
# ukoliko su dimenzije nove slike dosta vece
# od polazne, nema potrebe gledati crne piksele
minx = int(ceil(cosk[:, 0].min()))
maxx = int(ceil(cosk[:, 0].max())) + 1
miny = int(ceil(cosk[:, 1].min()))
maxy = int(ceil(cosk[:, 1].max())) + 1
gran = (miny, minx), (maxy, maxx)
# Cuvanje fiksirane i slike koju treba
# transformisati pod informativnijim imenima
fiksna = leva
transf = desna
if sleva:
fiksna, transf = transf, fiksna
# Log poruka o akciji
if LOGUJ:
print(f'Transformiše se {"leva" if sleva else "desna"} slika.')
# Transformacija slike koja nije fiksirana
transf = projektuj(transf, M, dim, gran)
# Log poruka o akciji
if LOGUJ:
print('Uspešno izvršena transformacija.')
# Log poruka o akciji
if LOGUJ:
print('Spajaju se slike.')
# Uzduzne granice preklapanja
if sleva:
lgran = mini[0]
dgran = maxx
else:
lgran = minx
dgran = dim1[0] + mini[0]
# Postavljanje fiksne slike na mesto;
# prvo obrada delova pre i posle granice
if sleva:
transf[mini[1]:dim1[1]+mini[1],
dgran :dim1[0]+mini[0]] = \
[[fiksna[i-mini[1],j-mini[0]]
for j in range( dgran , dim1[0]+mini[0])]
for i in range(mini[1], dim1[1]+mini[1])]
else:
transf[mini[1]:dim1[1]+mini[1],
mini[0]: lgran ] = \
[[fiksna[i-mini[1],j-mini[0]]
for j in range(mini[0], lgran )]
for i in range(mini[1], dim1[1]+mini[1])]
# Funkcija za filtriranje crnih piskela
crn = lambda p: all(map(lambda x: x == 0, p))
# Funkcija za interpolaciju piksela
duzina = dgran - lgran + 1
if sleva:
pros = lambda y, x, j: (dgran - j) / duzina * x + (j - lgran + 1
) / duzina * y
else:
pros = lambda x, y, j: (dgran - j) / duzina * x + (j - lgran + 1
) / duzina * y
# Tezinsko uprosecavanje (interpolacija)
# necrnih piksela unutar granicnog pojasa
transf[mini[1]:dim1[1] + mini[1], lgran:dgran] = [[
transf[i, j] if crn(fiksna[i - mini[1],
j - mini[0]]) else fiksna[i - mini[1],
j - mini[0]]
if crn(transf[i, j]) else pros(fiksna[i - mini[1],
j - mini[0]], transf[i, j], j)
for j in range(lgran, dgran)
] for i in range(mini[1], dim1[1] + mini[1])]
# Log poruka o akciji
if LOGUJ:
print('Uspešno spojene slike.')
# Isecanje praznih ivica
return iseci(transf)