def getGauss(size,i):
sigma = 1.2
if i == 0:
return h.gauss2x(size,sigma)
if i == 1:
return h.gauss2y(size,sigma)
if i == 2:
return h.gauss2xy(size,sigma)
if i == 3:
return h.gaussdx(size,sigma)
if i == 4:
return h.gaussdy(size,sigma)
if i == 5:
return h.gauss(size,sigma)
def getGauss(size,i):
sigma = 1.2
if i == 0:
return h.gauss(9,sigma)
if i == 1:
return h.gauss(15,sigma)
if i == 2:
return h.gauss(21,sigma)
if i == 3:
return h.gauss(27,sigma)
if i == 4:
return h.gauss(39,sigma)
if i == 5:
return h.gauss(51,sigma)
if i == 6:
return h.gauss(75,sigma)
if i == 7:
return h.gauss(99,sigma)
def getGauss(size,i):
"""
Input : size of filter, sigma
Output: retrns filter
"""
sigma = 1.2
if i == 0:
return h.gauss2x(size,sigma)
if i == 1:
return h.gauss2y(size,sigma)
if i == 2:
return h.gauss2xy(size,sigma)
if i == 3:
return h.gaussdx(size,sigma)
if i == 4:
return h.gaussdy(size,sigma)
if i == 5:
return h.gauss(size,sigma)
def surf_descriptor(I_name, keypoints):
"""
input: [y, x, s], name of picture
output: Descriptor
"""
I_bw = cv2.imread(I_name, 0)
I = cv2.imread(I_name)
I_int = cv2.integral(I_bw)
keypoint_descriptor = []
final_keypoints = []
print("starting descriptor")
# Removing keypoints if the keypoint collecting region is outside the image
for p in keypoints:
hs = haar_size(p[2])
max_size_y = len(I_bw) - (20 * p[2] + hs)
max_size_x = len(I_bw[0]) - (20 * p[2] + hs)
min_size_x = min_size_y = round_four(20 * p[2]) + hs
#print("maxsize y = " + str(max_size_y), "maxsize x " + str(max_size_x), "minsizex/y = " + str(min_size_y))
if ((p[0] < max_size_y) and (min_size_y < p[0]) and \
(p[1] < max_size_x) and (min_size_x < p[1])):
cv2.circle(I, (p[1].astype(int), p[0].astype(int)),
int(round(p[2])), (0, 0, 255), 3)
final_keypoints.append([p[0], p[1], p[2]])
cv2.imwrite("zzdes-" + I_name[:-4] + ".jpg", I)
print("length of final_keypoints:" + str(len(final_keypoints)))
#keypoint area = [y, x, s]
for p_a in final_keypoints:
region_size = round_four(20 * p_a[2])
sub_region_size = region_size / 4.0
descriptor = np.zeros([64, 1])
d_x = np.zeros([20, 20])
d_y = np.zeros([20, 20])
"""
a g b
######
######
e ##p### f
######
######
######
c gh d
the integral square aecg subtracted from fbhd gives the dx-haar-wavelet response
"""
# Calculating the haar wavelet response, in a 20x20 window
haar_hs = haar_size(p_a[2]) / 2
incre = (sub_region_size / 5.0) / 5.0
y1 = -region_size / 2 + int(p_a[0])
for y in range(0, 20):
x1 = -region_size / 2 + int(p_a[1])
for x in range(0, 20):
#print(y1, region_size/2 + int(p_a[1]))
#print(y1- haar_hs + 1, x1 + haar_hs - 1)
#print("y = " + str(y1), "x = " + str(x1), "scale = " + str(p[2]), "hs = " + str(hs))
#print("y = " + str(I_int[y1,x1]))
#print(haar_hs, incre)
if (y1 < 0 or x1 < 0):
print(y1, x1)
print("y=" + str(p_a[0]), "x=" + str(p_a[1]),
"scale=" + str(p[2]))
a = I_int[y1 - haar_hs, x1 - haar_hs]
b = I_int[y1 - haar_hs, x1 + haar_hs]
c = I_int[y1 + haar_hs, x1 - haar_hs]
d = I_int[y1 + haar_hs, x1 + haar_hs]
e = I_int[y1, x1 - haar_hs]
f = I_int[y1, x1 + haar_hs]
g = I_int[y1 - haar_hs, x1]
h = I_int[y1 + haar_hs, x1]
d_x[y, x] = (h + a - c - g) - (d + g - h - b)
d_y[y, x] = (f + a - e - b) - (d + e - c - f)
x1 += incre
y1 += incre
d_x = np.multiply(h2.gauss(len(d_x), 3.3 * p[2]), d_x)
d_y = np.multiply(h2.gauss(len(d_y), 3.3 * p[2]), d_y)
#if ((p_a[0] == 712 and p_a[1] == 1514) or (p_a[0] == 530 and p_a[1] == 327)):
# np.set_printoptions(precision=5)
# print(d_x)
# print(d_y)
i = 0
for y in range(0, 4):
for x in range(0, 4):
field_dx = np.sum(d_x[y * 5:(y + 1) * 5, x * 5:(x + 1) * 5])
field_dy = np.sum(d_y[y * 5:(y + 1) * 5, x * 5:(x + 1) * 5])
field_abs_dx = np.sum(
np.abs(d_x[y * 5:(y + 1) * 5, x * 5:(x + 1) * 5]))
field_abs_dy = np.sum(
np.abs(d_y[y * 5:(y + 1) * 5, x * 5:(x + 1) * 5]))
descriptor[i + 0] = field_dx
descriptor[i + 1] = field_dy
descriptor[i + 2] = field_abs_dx
descriptor[i + 3] = field_abs_dy
i += 4
keypoint_descriptor.append(
[p_a, descriptor / np.linalg.norm(descriptor)])
#print("length of keypoint descriptor: " + str(len(keypoint_descriptor)))
#print("\n")
return (keypoint_descriptor)
def surf_descriptor_w_orientation(I_name, keypoints):
"""
input: [y, x, s, o], name of picture
output: Descriptor
"""
I_bw = cv2.imread(I_name, 0)
I = cv2.imread(I_name)
I_int = cv2.integral(I_bw)
keypoint_descriptor = []
final_keypoints = []
print("starting descriptor")
# Removing keypoints if the keypoint collecting region is outside the image
for p_a in keypoints:
hs = haar_size(p_a[2])
max_size_y = len(I_bw) - (20 * p_a[2] + hs)
max_size_x = len(I_bw[0]) - (20 * p_a[2] + hs)
min_size_x = min_size_y = round_four(20 * p_a[2]) + hs
#print("maxsize y = " + str(max_size_y), "maxsize x " + str(max_size_x), "minsizex/y = " + str(min_size_y))
if ((p_a[0] < max_size_y) and (min_size_y < p_a[0]) and \
(p_a[1] < max_size_x) and (min_size_x < p_a[1])):
cv2.circle(I, (p_a[1].astype(int), p_a[0].astype(int)), int(round(p_a[2])), (0,0,255), 3)
final_keypoints.append([p_a[0], p_a[1], p_a[2], p_a[3]])
cv2.imwrite("zzdes-" + I_name[:-4] + ".jpg", I)
print("length of final_keypoints:" + str(len(final_keypoints)))
#keypoint area = [y, x, s]
counter = 1
for p_a in final_keypoints:
col, row = np.shape(I_bw)
rotmat = cv2.getRotationMatrix2D((p_a[1], p_a[0]), p_a[3], 1)
dst = cv2.warpAffine(I_bw, rotmat, (int(row), int(col)))
I_int = cv2.integral(dst)
print(counter)
counter += 1
region_size = round_four(20 * p_a[2])
sub_region_size = region_size/4.0
descriptor = np.zeros([64, 1])
d_x = np.zeros([20,20])
d_y = np.zeros([20,20])
"""
a g b
######
######
e ##p### f
######
######
######
c gh d
the integral square aecg subtracted from fbhd gives the dx-haar-wavelet response
"""
# Calculating the haar wavelet response, in a 20x20 window
haar_hs = haar_size(p_a[2]) / 2
incre = (sub_region_size/5.0)/5.0
y1 = -region_size/2 + int(p_a[0])
for y in range(0, 20):
x1 =-region_size/2 + int(p_a[1])
for x in range(0, 20):
#print(y1, region_size/2 + int(p_a[1]))
#print(y1- haar_hs + 1, x1 + haar_hs - 1)
#print("y = " + str(y1), "x = " + str(x1), "scale = " + str(p[2]), "hs = " + str(hs))
#print("y = " + str(I_int[y1,x1]))
#print(haar_hs, incre)
if (y1 < 0 or x1 < 0):
print(y1,x1)
print("y="+str(p_a[0]),"x="+str(p_a[1]), "scale="+str(p[2]))
a = I_int[y1 - haar_hs, x1 - haar_hs]
b = I_int[y1 - haar_hs, x1 + haar_hs]
c = I_int[y1 + haar_hs, x1 - haar_hs]
d = I_int[y1 + haar_hs, x1 + haar_hs]
e = I_int[y1, x1 - haar_hs]
f = I_int[y1, x1 + haar_hs]
g = I_int[y1 - haar_hs, x1]
h = I_int[y1 + haar_hs, x1]
d_x[y, x] = (h + a - c - g) - (d + g - h - b)
d_y[y, x] = (f + a - e - b) - (d + e - c - f)
x1 += incre
y1 += incre
d_x = np.multiply(h2.gauss(len(d_x), 3.3 * p_a[2]), d_x)
d_y = np.multiply(h2.gauss(len(d_y), 3.3 * p_a[2]), d_y)
#if ((p_a[0] == 712 and p_a[1] == 1514) or (p_a[0] == 530 and p_a[1] == 327)):
# np.set_printoptions(precision=5)
# print(d_x)
# print(d_y)
i = 0
for y in range(0, 4):
for x in range(0, 4):
field_dx = np.sum(d_x[y * 5 : (y+1) * 5, x * 5 : (x+1) * 5])
field_dy = np.sum(d_y[y * 5 : (y+1) * 5, x * 5 : (x+1) * 5])
field_abs_dx = np.sum(np.abs(d_x[y * 5 : (y+1) * 5, x * 5 : (x+1) * 5]))
field_abs_dy = np.sum(np.abs(d_y[y * 5 : (y+1) * 5, x * 5 : (x+1) * 5]))
descriptor[i + 0] = field_dx
descriptor[i + 1] = field_dy
descriptor[i + 2] = field_abs_dx
descriptor[i + 3] = field_abs_dy
i += 4
keypoint_descriptor.append([p_a[:-1], descriptor / np.linalg.norm(descriptor)])
#print("length of keypoint descriptor: " + str(len(keypoint_descriptor)))
#print("\n")
return(keypoint_descriptor)
def sift_orientation(I_name, points):
window_size = 16
"""
Input : image I, interest points, size of window
Output: assigns an orientation to the interest points
"""
k_con = math.sqrt(2)
k = math.sqrt(2)
"""
sigma1 = np.array([k_con/2, 1.0, k_con , k_con ** 2, k_con ** 3, \
k_con, k_con ** 2, k_con ** 3, k_con ** 4, k_con ** 5, \
k_con ** 3, k_con ** 4, k_con ** 5, k_con ** 6, k_con ** 7, \
k_con ** 5, k_con ** 6, k_con ** 7, k_con ** 8, k_con ** 9])
"""
sigma1 = np.array([1.3, 1.6, 1.6 * k, 1.6 * k ** 2, 1.6 * k ** 3, \
1.6 * k, 1.6 * k ** 2, 1.6 * k ** 3, 1.6 * k ** 4, 1.6 * k ** 5, \
1.6 * k ** 3, 1.6 * k ** 4, 1.6 * k ** 5, 1.6 * k ** 6, 1.6 * k ** 7, \
1.6 * k ** 5, 1.6 * k ** 6, 1.6 * k ** 7, 1.6 * k ** 8, 1.6 * k ** 9, \
1.6 * k ** 7, 1.6 * k ** 8, 1.6 * k ** 9, 1.6 * k ** 10, 1.6 * k ** 11])
I = cv2.imread(I_name).astype(float)
I_show = cv2.imread(I_name).astype(float)
I0 = cv2.imread(I_name, 0).astype(float)
I1 = misc.imresize(I0, 50, 'bilinear').astype(float)
I2 = misc.imresize(I0, 25, 'bilinear').astype(float)
I3 = misc.imresize(I0, 1 / 8.0, 'bilinear').astype(float)
I4 = misc.imresize(I0, 1 / 16.0, 'bilinear').astype(float)
o0sc = np.zeros((5, I0.shape[0], I0.shape[1]))
o1sc = np.zeros((5, I1.shape[0], I1.shape[1]))
o2sc = np.zeros((5, I2.shape[0], I2.shape[1]))
o3sc = np.zeros((5, I3.shape[0], I3.shape[1]))
o4sc = np.zeros((5, I4.shape[0], I4.shape[1]))
for i in range(0, 5):
"""
o1sc[i,:,:] = cv2.filter2D(I0, -1, h.gauss(9, sigma1[i]))
o2sc[i,:,:] = misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 5])), 50, 'bilinear').astype(float)
o3sc[i,:,:] = misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 10])), 25, 'bilinear').astype(float)
o4sc[i,:,:] = misc.imresize(misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 15])), 25, 'bilinear').astype(float), 50, 'bilinear').astype(float)
"""
o0sc[i, :, :] = ndimage.filters.gaussian_filter(I0, sigma1[i])
o1sc[i, :, :] = misc.imresize(
ndimage.filters.gaussian_filter(I0, sigma1[i]), 50, 'bilinear')
o2sc[i, :, :] = misc.imresize(
ndimage.filters.gaussian_filter(I0, sigma1[i]), 25, 'bilinear')
o3sc[i, :, :] = misc.imresize(
ndimage.filters.gaussian_filter(I0, sigma1[i]), 1 / 8.0,
'bilinear')
o4sc[i, :, :] = misc.imresize(
ndimage.filters.gaussian_filter(I0, sigma1[i]), 1 / 16.0,
'bilinear')
I = [o0sc[0], o0sc[1], o0sc[2], o0sc[3], o0sc[4], o1sc[0], o1sc[1], o1sc[2], o1sc[3], o1sc[4], \
o2sc[0], o2sc[1], o2sc[2], o2sc[3], o2sc[4], o3sc[0], o3sc[1], o3sc[2], o3sc[3], o3sc[4], \
o4sc[1], o4sc[2], o4sc[3], o4sc[4], o4sc[4]]
# point with orientation; [y, x, s, o]
final_points = []
ret_points = []
# length of outer list
o = 0
for p in points:
counter = 1
max_size_y = len(I[int(p[2])]) - (window_size)
max_size_x = len(I[int(p[2])][0]) - (window_size)
min_size_y = window_size
min_size_x = window_size
if ((p[0] < max_size_y) and (min_size_y < p[0]) and \
(p[1] < max_size_x and min_size_x < p[1])):
if (p[2] > 5 and p[2] < 8):
cv2.circle(I_show, (int(p[1] * 2), int(p[0] * 2)), 12,
(0, 255, 0), 2)
if (p[2] > 10 and p[2] < 13):
cv2.circle(I_show, (int(p[1] * 4), int(p[0] * 4)), 24,
(255, 0, 0), 2)
if (p[2] > 15 and p[2] < 18):
cv2.circle(I_show, (int(p[1] * 8), int(p[0] * 8)), 30,
(125, 125, 0), 2)
final_points.append(p)
o += 1
cv2.imwrite("points.jpg", I_show)
# size of all usable points o
print("length of usable points, orientation", o)
i = 0
for p in final_points:
bins = np.zeros([36])
window_size = 16
gauss_window = h.gauss(window_size, 1.5 * p[2])
ip_window = h.create_window(I[int(p[2])], p, window_size + 2)
orien_of_bin = []
# creates bin for each point
hold_mag = np.empty((window_size, window_size))
hold_ori = np.empty((window_size, window_size))
for y in range(0, window_size):
for x in range(0, window_size):
magnitude_p = magnitude(ip_window, [y + 1, x + 1])
orientation_p = orientation(ip_window, [y + 1, x + 1])
orientation_p = math.floor(orientation_p / 10.0)
hold_mag[y, x] = magnitude_p
hold_ori[y, x] = orientation_p
hold_mag = np.multiply(hold_mag, gauss_window)
hold_mag = np.reshape(hold_mag, -1)
hold_ori = np.reshape(hold_ori, -1)
for j in range(0, len(hold_ori)):
bins[hold_ori[j]] += hold_mag[j]
# index of max element in bin
max_index = bins.argmax()
max_val = bins[max_index]
for j in range(0, 35):
if (bins[j] >= max_val * 0.8):
orien_of_bin.append(j)
new_orien = list(orien_of_bin)
cc = 0
for i in new_orien:
if (i == 1):
A = 0
B = bins[i]
C = bins[i + 1]
if (i == 35):
A = bins[i - 1]
B = bins[i]
C = 0
else:
A = bins[i - 1]
B = bins[i]
C = bins[i + 1]
a = A + (C - A) / 2.0 - B
b = (C - A) / 2.0
c = B
if (b == 0 or a == 0):
toppoint = 0
else:
toppoint = -b / (2 * a)
degree = (toppoint * 10) + i * 10
#print(degree)
if (degree < 0):
degree = 360.0 + degree
ret_points.append([p[0], p[1], p[2], degree])
cc += 1
if (cc == 1):
break
counter += 1
ret_points = np.array(ret_points)
return (ret_points)
def sift_descriptor(I_name, points_orientations):
"""
Input : Image name I, points (y,x,sigma)
output: points p, and features f
"""
k_con = math.sqrt(2)
k = k_con
"""
sigma1 = np.array([k_con/2, 1.0, k_con , k_con ** 2, k_con ** 3, \
k_con, k_con ** 2, k_con ** 3, k_con ** 4, k_con ** 5, \
k_con ** 3, k_con ** 4, k_con ** 5, k_con ** 6, k_con ** 7, \
k_con ** 5, k_con ** 6, k_con ** 7, k_con ** 8, k_con ** 9, \
k_con ** 10, k_con ** 11, k_con ** 12, k_con ** 13, k_con ** 14])
"""
sigma1 = np.array([1.3, 1.6, 1.6 * k, 1.6 * k ** 2, 1.6 * k ** 3, \
1.6 * k, 1.6 * k ** 2, 1.6 * k ** 3, 1.6 * k ** 4, 1.6 * k ** 5, \
1.6 * k ** 3, 1.6 * k ** 4, 1.6 * k ** 5, 1.6 * k ** 6, 1.6 * k ** 7, \
1.6 * k ** 5, 1.6 * k ** 6, 1.6 * k ** 7, 1.6 * k ** 8, 1.6 * k ** 9, \
1.6 * k ** 7, 1.6 * k ** 8, 1.6 * k ** 9, 1.6 * k ** 10, 1.6 * k ** 11])
I = cv2.imread(I_name)
I0 = cv2.imread(I_name, 0)
I1 = misc.imresize(I0, 50, 'bilinear').astype(float)
I2 = misc.imresize(I0, 25, 'bilinear').astype(float)
I3 = misc.imresize(I0, 1/8.0, 'bilinear').astype(float)
I4 = misc.imresize(I0, 1/16.0, 'bilinear').astype(float)
o0sc = np.zeros((5, I0.shape[0],I0.shape[1]))
o1sc = np.zeros((5, I1.shape[0],I1.shape[1]))
o2sc = np.zeros((5, I2.shape[0],I2.shape[1]))
o3sc = np.zeros((5, I3.shape[0],I3.shape[1]))
o4sc = np.zeros((5, I4.shape[0],I4.shape[1]))
for i in range(0,5):
"""
o1sc[i,:,:] = cv2.filter2D(I0, -1, h.gauss(9, sigma1[i]))
o2sc[i,:,:] = misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 5])), 50, 'bilinear').astype(float)
o3sc[i,:,:] = misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 10])), 25, 'bilinear').astype(float)
o4sc[i,:,:] = misc.imresize(misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 15])), 25, 'bilinear').astype(float), 50, 'bilinear').astype(float)
"""
o0sc[i,:,:] = ndimage.filters.gaussian_filter(I0, sigma1[i])
o1sc[i,:,:] = misc.imresize(ndimage.filters.gaussian_filter(I0, sigma1[i]), 50, 'bilinear')
o2sc[i,:,:] = misc.imresize(ndimage.filters.gaussian_filter(I0, sigma1[i]), 25, 'bilinear')
o3sc[i,:,:] = misc.imresize(ndimage.filters.gaussian_filter(I0, sigma1[i]), 1/8.0, 'bilinear')
o4sc[i,:,:] = misc.imresize(ndimage.filters.gaussian_filter(I0, sigma1[i]), 1/16.0, 'bilinear')
I = [o0sc[0], o0sc[1], o0sc[2], o0sc[3], o0sc[4], o1sc[0], o1sc[1], o1sc[2], o1sc[3], o1sc[4], \
o2sc[0], o2sc[1], o2sc[2], o2sc[3], o2sc[4], o3sc[0], o3sc[1], o3sc[2], o3sc[3], o3sc[4], \
o4sc[0], o4sc[1], o4sc[2], o4sc[3], o4sc[4]]
window_size = 16
gauss_window = h.gauss(window_size, 8)
final_points = []
orien_of_bin = []
len_of_desc = len(points_orientations)
mag_bin = np.zeros([len_of_desc, 16, 4, 4])
ori_bin = np.zeros([len_of_desc, 16, 4, 4])
final_desc = []
incrementeur = 0
for p in points_orientations:
hold_mag = np.empty([window_size,window_size])
hold_ori = np.empty([window_size,window_size])
ip_window = h.create_window_angles(I[int(p[2])], p, window_size + 2)
# creates bin for each point
for y in range(0, window_size):
for x in range(0, window_size):
magnitude_p = magnitude(ip_window, [y + 1, x + 1])
orientation_p = orientation(ip_window, [y + 1, x + 1])
hold_mag[y, x] = magnitude_p
hold_ori[y, x] = orientation_p
hold_mag = np.multiply(hold_mag, gauss_window)
hold_mag = np.reshape(hold_mag, -1)
hold_ori = np.reshape(hold_ori, -1)
v = 0
for w in range(0, 4):
for i in range(0, 13, 4):
for j in range(0, 4):
for k in range(0, 4):
mag_bin[incrementeur][v][j][k] = hold_mag[k + i + j * 16 + w * 64]
ori = hold_ori[k + i + j * 16 + w * 64]
ori_bin[incrementeur][v][j][k] = ori
v += 1
incrementeur += 1
"""
val
t-3 t-2 t-1 t0 t1 t2 t3
directions: first dir is pointing north, northeast, east...
"""
directions = np.array([[-2.5,1.5, -4],[-2.5,5.5, -3],[1.5,5.5, 1],[5.5,5.5, 5], \
[5.5,2.5, 4],[-2.5,5.5, 3],[-2.5,1.5, -1],[-2.5,-2.5, -5]])
mid = np.array([1.5, 1.5])
incc = 0
for i in range(0, len(mag_bin)):
descriptor = np.zeros([16,8])
holder_mag = mag_bin[i]
holder_ori = ori_bin[i]
for region in range(0, 16):
for y in range(0, 4):
for x in range(0, 4):
coor = np.array([y, x])
bin_nr = (holder_ori[region, y, x] / 45.0)
if (bin_nr > 7):
bin_nr = bin_nr - 1
t1_nr = math.ceil(bin_nr) % 8
tm1_nr = math.floor(bin_nr) % 8
if (bin_nr % 1.0 == 0):
tm1_nr = (bin_nr + 1) % 8
t2_nr = (t1_nr + 1) % 8
tm2_nr = (tm1_nr - 1) % 8
t0_weight = 1 - np.linalg.norm(mid - coor) / 2.7
t0 = t0_weight * holder_mag[region, y, x]
A = 0
B = t0
C = 0
a = -t0/9
b = 0
c = t0
offset = bin_nr % 1.0
t1 = a * (1+offset)**2 + b * (1+offset) + c
tm1 = a * (-1 + offset)**2 + b * (-1+offset) + c
t2 = a * (2+offset)**2 + b * (2+offset) + c
tm2 = a * (-2+offset)**2 + b * (-2+offset) + c
descriptor[region, t1_nr] += t1
descriptor[region, tm1_nr] += tm1
descriptor[region, t2_nr] += t2
descriptor[region, tm2_nr] += tm2
# first quadrant
if (y >= 0 and y <= 1 and x >= 2 and x <= 3):
dir1 = directions[0]
dir2 = directions[1]
dir3 = directions[2]
(w1,w2,w3,bool1,bool2,bool3) = is_inbound([y,x],region, dir1, dir2, dir3)
if (y >= 0 and y <= 1 and x >= 0 and x <= 1):
dir1 = directions[6]
dir2 = directions[7]
dir3 = directions[0]
(w1,w2,w3,bool1,bool2,bool3) = is_inbound([y,x],region, dir1, dir2, dir3)
if (y >= 2 and y <= 3 and x >= 0 and x <= 1):
dir1 = directions[4]
dir2 = directions[5]
dir3 = directions[6]
(w1,w2,w3,bool1,bool2,bool3) = is_inbound([y,x],region, dir1, dir2, dir3)
if (y >= 2 and y <= 3 and x >= 2 and x <= 3):
dir1 = directions[2]
dir2 = directions[3]
dir3 = directions[4]
(w1,w2,w3,bool1,bool2,bool3) = is_inbound([y,x],region, dir1, dir2, dir3)
descriptor[(region + dir1[2]) * bool1, t1_nr] += w1 * t1
descriptor[(region + dir1[2]) * bool1, tm1_nr] += w1 * tm1
descriptor[(region + dir1[2]) * bool1, t2_nr] += w1 * t2
descriptor[(region + dir1[2]) * bool1, tm2_nr] += w1 * tm1
descriptor[(region + dir2[2]) * bool2, t1_nr] += w2 * t1
descriptor[(region + dir2[2]) * bool2, tm1_nr] += w2 * tm1
descriptor[(region + dir2[2]) * bool2, t2_nr] += w2 * t2
descriptor[(region + dir2[2]) * bool2, tm2_nr] += w2 * tm2
descriptor[(region + dir3[2]) * bool3, t1_nr] += w3 * t1
descriptor[(region + dir3[2]) * bool3, tm1_nr] += w3 * tm1
descriptor[(region + dir3[2]) * bool3, t2_nr] += w3 * t2
descriptor[(region + dir3[2]) * bool3, tm2_nr] += w3 * tm2
final_desc.append(np.array(descriptor.reshape(-1)))
incc += 1
print("length of descriptor processed: ", incc)
ret = []
for vec_i in range(0, len(final_desc)):
dd = final_desc[vec_i] / np.linalg.norm(final_desc[vec_i])
dd = np.clip(dd, 0, 0.2)
dd = dd / np.linalg.norm(dd)
ret.append([points_orientations[vec_i], np.array(dd)])
return(ret)
def decriptor_representation(Img, points_orientations):
I = cv2.imread(Img, 0)
window_size = 16
max_point_size_y = len(I) - (window_size + 2)
min_point_size_y = window_size
max_point_size_x = len(I[0]) - (window_size + 5)
min_point_size_x = window_size
gauss_window = h.gauss(window_size, 8)
points = points_orientations
final_points = []
orien_of_bin = []
len_of_desc = len(points)
mag_bin = numpy.zeros([len_of_desc, 16, 4, 4])
ori_bin = numpy.zeros([len_of_desc, 16, 4, 4])
final_desc = numpy.zeros([len_of_desc, 128])
incrementeur = 0
for p in points:
hold_mag = h.create_window(I, [35,35], window_size)
hold_ori = h.create_window(I, [35,35], window_size)
ip_window = h.create_window(I, p, window_size + 2)
# creates bin for each point
for y in range(0, window_size):
for x in range(0, window_size):
magnitude_p = magnitude(ip_window, [y + 1, x + 1])
orientation_p = orientation(ip_window, [y + 1, x + 1])
hold_mag[y][x] = magnitude_p
hold_ori[y][x] = orientation_p
hold_mag = numpy.multiply(hold_mag, gauss_window)
hold_mag = numpy.reshape(hold_mag, -1)
hold_ori = numpy.reshape(hold_ori, -1)
holder = numpy.zeros([4,4])
v = 0
for w in range(0, 4):
for i in range(0, 13, 4):
for j in range(0, 4):
for k in range(0, 4):
mag_bin[incrementeur][v][j][k] = hold_mag[k + i + j * 16 + w * 64]
ori = math.floor((360 - hold_ori[k + i + j * 16 + w * 64]) / 45.0) - 1
#print(hold_ori[k + i + j * 16 + w * 64]) / 45.0))
ori_bin[incrementeur][v][j][k] = ori
v += 1
#with open('file2.txt','a') as f_handle:
# numpy.savetxt(f_handle, ori_bin[incrementeur], delimiter=" ", fmt="%s")
#numpy.savetxt('file2.txt', d_bin[incrementeur], delimiter=" ", fmt="%s")
incrementeur += 1
mag_val = 0
ori_val = 0
#print("\n\n\n")
for w in range(0, len(points)):
for i in range(0, 16):
for j in range(0, 4):
for k in range(0, 4):
mag_val = mag_bin[w][i][k][j]
ori_val = ori_bin[w][i][k][j]
#print(ori_val, ori_val + 8*i)
#print("\n\n")
final_desc[w][8*i + ori_val] += mag_val
for vec_i in range(0, len(final_desc)):
final_desc[vec_i] = final_desc[vec_i] / numpy.linalg.norm(final_desc[vec_i])
final_desc[vec_i] = numpy.clip(final_desc[vec_i], 0, 0.2)
final_desc[vec_i] = final_desc[vec_i] / numpy.linalg.norm(final_desc[vec_i])
oo = open("descriptor.txt", "w")
for ff in final_desc:
for j in range(0,128):
oo.write(str(ff[j]) + "\n")
oo.write("\n\n")
oo.close()
return(final_desc)
def surf_orientation(I_name, point):
"""
input: (y, x, s), integral_img for scale s
output : (y, x, s, o)
"""
counter = 1
final_keypoints = []
orientations = []
I_int = cv2.imread(I_name, 0).astype(float)
scale_pics = [cv2.filter2D(I_int, -1, hh.gauss(9, 1.2)), cv2.filter2D(I_int, -1, hh.gauss(15, 1.2)), \
cv2.filter2D(I_int, -1, hh.gauss(21, 1.2)), cv2.filter2D(I_int, -1, hh.gauss(27, 1.2)), \
cv2.filter2D(I_int, -1, hh.gauss(39, 1.2)), cv2.filter2D(I_int, -1, hh.gauss(75, 1.2))]
scale_pics = [cv2.integral(scale_pics[0]), cv2.integral(scale_pics[1]), \
cv2.integral(scale_pics[2]), cv2.integral(scale_pics[3]), \
cv2.integral(scale_pics[4]), cv2.integral(scale_pics[5])]
for p_a in point:
hs = h2.haar_size(p_a[2])
max_size_y = len(I_int) - (20 * p_a[2] + hs)
max_size_x = len(I_int[0]) - (20 * p_a[2] + hs)
min_size_x = min_size_y = h2.round_four(20 * p_a[2] ) + hs
if ((p_a[0] < max_size_y) and (min_size_y < p_a[0]) and \
(p_a[1] < max_size_x) and (min_size_x < p_a[1])):
#cv2.circle(I, (p[1].astype(int), p[0].astype(int)), int(round(p[2])), (0,0,255), 3)
final_keypoints.append([p_a[0], p_a[1], p_a[2]])
#keypoint area = [y, x, s]
for p_a in final_keypoints:
window_size = (int(6 * p_a[2]) / p_a[2]) + 1
d_x = np.zeros([window_size, window_size])
d_y = np.zeros([window_size, window_size])
if (p_a[2] > 1.9 and p_a[2] < 2.1):
I_int = scale_pics[0]
if (p_a[2] > 2.7 and p_a[2] < 2.9):
I_int = scale_pics[1]
if (p_a[2] > 3.5 and p_a[2] < 3.6):
I_int = scale_pics[2]
if (p_a[2] > 5.1 and p_a[2] < 5.3):
I_int = scale_pics[3]
if (p_a[2] > 6.7 and p_a[2] < 6.9):
I_int = scale_pics[4]
if (p_a[2] > 9.9 and p_a[2] < 10.1):
I_int = scale_pics[5]
"""
a g b
######
######
e ##p### f
######
######
######
c gh d
the integral square aecg subtracted from fbhd gives the dx-haar-wavelet response
# Calculating the haar wavelet response, in a 20x20 window
"""
haar_hs = int(window_size / 2)
incre = int(p_a[2])
#y1 = - haar_hs * incre + int(p_a[0])
y1 = 0
for y in range(int(p_a[0]) - (haar_hs * incre), int(p_a[0]) + (haar_hs * incre), incre):
#x1 = - haar_hs * incre + int(p_a[1])
x1 = 0
for x in range(int(p_a[1]) - (haar_hs * incre), int(p_a[1]) + (haar_hs * incre), incre):
if (y1 < 0 or x1 < 0):
print(y1,x1)
#print("y = " + str(y), "x = " + str(x), "scale = " + str(p_a[2]), "hs = " + str(hs))
a = I_int[y - haar_hs, x - haar_hs]
b = I_int[y - haar_hs, x + haar_hs]
c = I_int[y + haar_hs, x - haar_hs]
d = I_int[y + haar_hs, x + haar_hs]
e = I_int[y, x - haar_hs]
f = I_int[y, x + haar_hs]
g = I_int[y - haar_hs, x]
h = I_int[y + haar_hs, x]
d_x[y1, x1] = (h + a - c - g) - (d + g - h - b)
d_y[y1, x1] = (f + a - e - b) - (d + e - c - f)
x1 += 1
y1 += 1
#y1 = - haar_hs * incre + int(p_a[0])
#for y in range(0, window_size, int(incre)):
#x1 = - haar_hs * incre + int(p_a[1])
#for x in range(0, window_size, int(incre)):
#x1 += incre
#y1 += incre
d_x = np.multiply(hh.gauss(len(d_x), 2.5 * p_a[2]), d_x)
d_y = np.multiply(hh.gauss(len(d_y), 2.5 * p_a[2]), d_y)
d_x = hh.circle_matrix(d_x)
d_y = hh.circle_matrix(d_y)
np.set_printoptions(precision=0)
#print("\n")
#print(d_x)
#print("\n")
#print(d_y)
#print("\n")
dirs = np.zeros([6, 2])
for y in range (0, len(d_x)):
for x in range(0, len(d_x)):
dirs[math.floor(hh.orientation([d_x[y,x], d_y[y,x]]) / 60.0), 0] += d_x[y,x]
dirs[math.floor(hh.orientation([d_x[y,x], d_y[y,x]]) / 60.0), 1] += d_y[y,x]
#print(dirs)
#print("\n")
#print("\n")
#print("\n")
#print("\n")
orientations.append(hh.orientation(dirs[np.argmax(np.sum(np.abs(dirs), axis=1))]))
ret_points = []
for i in range(0, len(final_keypoints)):
ret_points.append([final_keypoints[i][0], final_keypoints[i][1], final_keypoints[i][2], orientations[i]])
return(ret_points)
def sift_orientation(I, points, window_size):
window_size = 16
"""
Input : image I, interest points, size of window
Output: assigns an orientation to the interest points
"""
# point with orientation; [[y, x],[o1, o2, o3]]
pwo = []
max_point_size_y = len(I[0]) - (window_size + 2)
min_point_size_y = window_size
max_point_size_x = len(I[0][0]) - (window_size + 5)
min_point_size_x = window_size
hold_mag = h.create_window(I[0], [35,35], window_size)
hold_ori = h.create_window(I[0], [35,35], window_size)
final_points = []
orien_of_bin = []
# length of outer list
o = 0
for p in points:
if ((p[0] < max_point_size_y and min_point_size_y < p[0]) and \
(p[1] < max_point_size_x and min_point_size_x < p[1])):
final_points.append(p)
o += 1
# size of all usable points o
bins = numpy.zeros([o, 1, 36])
i = 0
for p in final_points:
# if a point is too close to the border of the image, it is discarded
if ((p[0] < max_point_size_y and p[0] > min_point_size_y) and \
(p[1] < max_point_size_x and p[1] > min_point_size_x)):
# the sigma value for the gauss window, is 1.5 * scale
# NOTE! Only works for first octave
gauss_window = h.gauss(window_size, 1.5 + (1 * p[2]))
print(p)
ip_window = h.create_window(I[p[2]], p, window_size + 2)
# creates bin for each point
for y in range(0, window_size):
for x in range(0, window_size):
magnitude_p = magnitude(ip_window, [y + 1, x + 1])
orientation_p = orientation(ip_window, [y + 1, x + 1])
orientation_p = math.floor(orientation_p/10.0)
hold_mag[y][x] = magnitude_p
hold_ori[y][x] = orientation_p
hold_mag = numpy.multiply(hold_mag, gauss_window)
hold_mag = numpy.reshape(hold_mag, -1)
hold_ori = numpy.reshape(hold_ori, -1)
for j in range(0, len(hold_ori)):
bins[i][0][hold_ori[j]] += hold_mag[j]
hold_mag = h.create_window(I[0], [35,35], window_size)
hold_ori = h.create_window(I[0], [35,35], window_size)
bin_i = bins[i][0]
# index of max element in bin
max_index = max(bin_i)
max_index = [k for k, j in enumerate(bin_i) if j == max_index]
# finds points within 80% of interest point
holder_bin = []
holder_bin.append(max_index[0])
max_val = bin_i[max_index]
for j in range(0, 35):
if (bin_i[j] >= max_val * 0.8 and j != max_index[0]):
holder_bin.append(j)
orien_of_bin.append(holder_bin)
i += 1
new_orien = list(orien_of_bin)
for i in range(0, len(orien_of_bin)):
holder = []
for j in orien_of_bin[i]:
if (j == 1):
A = 0
B = bins[i][0][j]
C = bins[i][0][j]
if (j == 35):
A = bins[i][0][j-1]
B = bins[i][0][j]
C = 0
else:
A = bins[i][0][j - 1]
B = bins[i][0][j]
C = bins[i][0][j + 1]
a = A + (C-A)/2.0 -B
b = (C-A)/2.0
c = B
toppoint = -b / (2 * a)
point = toppoint * 10 + j * 10
if (point < 0):
point = 360.0 + point
holder.append(point)
new_orien[i] = holder
o = open('orients.txt', 'w')
for i in range(0, len(orien_of_bin)):
o.write(str(orien_of_bin[i]) + "\t" + str(new_orien[i]) + "\n")
o.close()
#print([final_points,new_orien])
final_points2 = []
for i in range(0, len(final_points)):
for o in new_orien[i]:
final_points2.append([final_points[i][0], final_points[i][1], o])
oo = open('interest_p_ori_mag.txt', 'w')
for pp in final_points2:
oo.write(str(pp[0]) + " " + str(pp[1]) + " " + str(pp[2]) + "\n")
oo.close()
#print(final_points2)
return (final_points2)
def sift_descriptor(I_name, points_orientations):
"""
Input : Image name I, points (y,x,sigma)
output: points p, and features f
"""
k_con = math.sqrt(2)
k = k_con
"""
sigma1 = np.array([k_con/2, 1.0, k_con , k_con ** 2, k_con ** 3, \
k_con, k_con ** 2, k_con ** 3, k_con ** 4, k_con ** 5, \
k_con ** 3, k_con ** 4, k_con ** 5, k_con ** 6, k_con ** 7, \
k_con ** 5, k_con ** 6, k_con ** 7, k_con ** 8, k_con ** 9, \
k_con ** 10, k_con ** 11, k_con ** 12, k_con ** 13, k_con ** 14])
"""
sigma1 = np.array([1.3, 1.6, 1.6 * k, 1.6 * k ** 2, 1.6 * k ** 3, \
1.6 * k, 1.6 * k ** 2, 1.6 * k ** 3, 1.6 * k ** 4, 1.6 * k ** 5, \
1.6 * k ** 3, 1.6 * k ** 4, 1.6 * k ** 5, 1.6 * k ** 6, 1.6 * k ** 7, \
1.6 * k ** 5, 1.6 * k ** 6, 1.6 * k ** 7, 1.6 * k ** 8, 1.6 * k ** 9, \
1.6 * k ** 7, 1.6 * k ** 8, 1.6 * k ** 9, 1.6 * k ** 10, 1.6 * k ** 11])
I = cv2.imread(I_name)
I0 = cv2.imread(I_name, 0)
I1 = misc.imresize(I0, 50, 'bilinear').astype(float)
I2 = misc.imresize(I0, 25, 'bilinear').astype(float)
I3 = misc.imresize(I0, 1 / 8.0, 'bilinear').astype(float)
I4 = misc.imresize(I0, 1 / 16.0, 'bilinear').astype(float)
o0sc = np.zeros((5, I0.shape[0], I0.shape[1]))
o1sc = np.zeros((5, I1.shape[0], I1.shape[1]))
o2sc = np.zeros((5, I2.shape[0], I2.shape[1]))
o3sc = np.zeros((5, I3.shape[0], I3.shape[1]))
o4sc = np.zeros((5, I4.shape[0], I4.shape[1]))
for i in range(0, 5):
"""
o1sc[i,:,:] = cv2.filter2D(I0, -1, h.gauss(9, sigma1[i]))
o2sc[i,:,:] = misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 5])), 50, 'bilinear').astype(float)
o3sc[i,:,:] = misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 10])), 25, 'bilinear').astype(float)
o4sc[i,:,:] = misc.imresize(misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 15])), 25, 'bilinear').astype(float), 50, 'bilinear').astype(float)
"""
o0sc[i, :, :] = ndimage.filters.gaussian_filter(I0, sigma1[i])
o1sc[i, :, :] = misc.imresize(
ndimage.filters.gaussian_filter(I0, sigma1[i]), 50, 'bilinear')
o2sc[i, :, :] = misc.imresize(
ndimage.filters.gaussian_filter(I0, sigma1[i]), 25, 'bilinear')
o3sc[i, :, :] = misc.imresize(
ndimage.filters.gaussian_filter(I0, sigma1[i]), 1 / 8.0,
'bilinear')
o4sc[i, :, :] = misc.imresize(
ndimage.filters.gaussian_filter(I0, sigma1[i]), 1 / 16.0,
'bilinear')
I = [o0sc[0], o0sc[1], o0sc[2], o0sc[3], o0sc[4], o1sc[0], o1sc[1], o1sc[2], o1sc[3], o1sc[4], \
o2sc[0], o2sc[1], o2sc[2], o2sc[3], o2sc[4], o3sc[0], o3sc[1], o3sc[2], o3sc[3], o3sc[4], \
o4sc[0], o4sc[1], o4sc[2], o4sc[3], o4sc[4]]
window_size = 16
gauss_window = h.gauss(window_size, 8)
final_points = []
orien_of_bin = []
len_of_desc = len(points_orientations)
mag_bin = np.zeros([len_of_desc, 16, 4, 4])
ori_bin = np.zeros([len_of_desc, 16, 4, 4])
final_desc = []
incrementeur = 0
for p in points_orientations:
hold_mag = np.empty([window_size, window_size])
hold_ori = np.empty([window_size, window_size])
ip_window = h.create_window_angles(I[int(p[2])], p, window_size + 2)
# creates bin for each point
for y in range(0, window_size):
for x in range(0, window_size):
magnitude_p = magnitude(ip_window, [y + 1, x + 1])
orientation_p = orientation(ip_window, [y + 1, x + 1])
hold_mag[y, x] = magnitude_p
hold_ori[y, x] = orientation_p
hold_mag = np.multiply(hold_mag, gauss_window)
hold_mag = np.reshape(hold_mag, -1)
hold_ori = np.reshape(hold_ori, -1)
v = 0
for w in range(0, 4):
for i in range(0, 13, 4):
for j in range(0, 4):
for k in range(0, 4):
mag_bin[incrementeur][v][j][k] = hold_mag[k + i +
j * 16 +
w * 64]
ori = hold_ori[k + i + j * 16 + w * 64]
ori_bin[incrementeur][v][j][k] = ori
v += 1
incrementeur += 1
"""
val
t-3 t-2 t-1 t0 t1 t2 t3
directions: first dir is pointing north, northeast, east...
"""
directions = np.array([[-2.5,1.5, -4],[-2.5,5.5, -3],[1.5,5.5, 1],[5.5,5.5, 5], \
[5.5,2.5, 4],[-2.5,5.5, 3],[-2.5,1.5, -1],[-2.5,-2.5, -5]])
mid = np.array([1.5, 1.5])
incc = 0
for i in range(0, len(mag_bin)):
descriptor = np.zeros([16, 8])
holder_mag = mag_bin[i]
holder_ori = ori_bin[i]
for region in range(0, 16):
for y in range(0, 4):
for x in range(0, 4):
coor = np.array([y, x])
bin_nr = (holder_ori[region, y, x] / 45.0)
if (bin_nr > 7):
bin_nr = bin_nr - 1
t1_nr = math.ceil(bin_nr) % 8
tm1_nr = math.floor(bin_nr) % 8
if (bin_nr % 1.0 == 0):
tm1_nr = (bin_nr + 1) % 8
t2_nr = (t1_nr + 1) % 8
tm2_nr = (tm1_nr - 1) % 8
t0_weight = 1 - np.linalg.norm(mid - coor) / 2.7
t0 = t0_weight * holder_mag[region, y, x]
A = 0
B = t0
C = 0
a = -t0 / 9
b = 0
c = t0
offset = bin_nr % 1.0
t1 = a * (1 + offset)**2 + b * (1 + offset) + c
tm1 = a * (-1 + offset)**2 + b * (-1 + offset) + c
t2 = a * (2 + offset)**2 + b * (2 + offset) + c
tm2 = a * (-2 + offset)**2 + b * (-2 + offset) + c
descriptor[region, t1_nr] += t1
descriptor[region, tm1_nr] += tm1
descriptor[region, t2_nr] += t2
descriptor[region, tm2_nr] += tm2
# first quadrant
if (y >= 0 and y <= 1 and x >= 2 and x <= 3):
dir1 = directions[0]
dir2 = directions[1]
dir3 = directions[2]
(w1, w2, w3, bool1, bool2,
bool3) = is_inbound([y, x], region, dir1, dir2, dir3)
if (y >= 0 and y <= 1 and x >= 0 and x <= 1):
dir1 = directions[6]
dir2 = directions[7]
dir3 = directions[0]
(w1, w2, w3, bool1, bool2,
bool3) = is_inbound([y, x], region, dir1, dir2, dir3)
if (y >= 2 and y <= 3 and x >= 0 and x <= 1):
dir1 = directions[4]
dir2 = directions[5]
dir3 = directions[6]
(w1, w2, w3, bool1, bool2,
bool3) = is_inbound([y, x], region, dir1, dir2, dir3)
if (y >= 2 and y <= 3 and x >= 2 and x <= 3):
dir1 = directions[2]
dir2 = directions[3]
dir3 = directions[4]
(w1, w2, w3, bool1, bool2,
bool3) = is_inbound([y, x], region, dir1, dir2, dir3)
descriptor[(region + dir1[2]) * bool1, t1_nr] += w1 * t1
descriptor[(region + dir1[2]) * bool1, tm1_nr] += w1 * tm1
descriptor[(region + dir1[2]) * bool1, t2_nr] += w1 * t2
descriptor[(region + dir1[2]) * bool1, tm2_nr] += w1 * tm1
descriptor[(region + dir2[2]) * bool2, t1_nr] += w2 * t1
descriptor[(region + dir2[2]) * bool2, tm1_nr] += w2 * tm1
descriptor[(region + dir2[2]) * bool2, t2_nr] += w2 * t2
descriptor[(region + dir2[2]) * bool2, tm2_nr] += w2 * tm2
descriptor[(region + dir3[2]) * bool3, t1_nr] += w3 * t1
descriptor[(region + dir3[2]) * bool3, tm1_nr] += w3 * tm1
descriptor[(region + dir3[2]) * bool3, t2_nr] += w3 * t2
descriptor[(region + dir3[2]) * bool3, tm2_nr] += w3 * tm2
final_desc.append(np.array(descriptor.reshape(-1)))
incc += 1
print("length of descriptor processed: ", incc)
ret = []
for vec_i in range(0, len(final_desc)):
dd = final_desc[vec_i] / np.linalg.norm(final_desc[vec_i])
dd = np.clip(dd, 0, 0.2)
dd = dd / np.linalg.norm(dd)
ret.append([points_orientations[vec_i], np.array(dd)])
return (ret)
def sift_orientation(I_name, points):
window_size = 16
"""
Input : image I, interest points, size of window
Output: assigns an orientation to the interest points
"""
k_con = math.sqrt(2)
k = math.sqrt(2)
"""
sigma1 = np.array([k_con/2, 1.0, k_con , k_con ** 2, k_con ** 3, \
k_con, k_con ** 2, k_con ** 3, k_con ** 4, k_con ** 5, \
k_con ** 3, k_con ** 4, k_con ** 5, k_con ** 6, k_con ** 7, \
k_con ** 5, k_con ** 6, k_con ** 7, k_con ** 8, k_con ** 9])
"""
sigma1 = np.array([1.3, 1.6, 1.6 * k, 1.6 * k ** 2, 1.6 * k ** 3, \
1.6 * k, 1.6 * k ** 2, 1.6 * k ** 3, 1.6 * k ** 4, 1.6 * k ** 5, \
1.6 * k ** 3, 1.6 * k ** 4, 1.6 * k ** 5, 1.6 * k ** 6, 1.6 * k ** 7, \
1.6 * k ** 5, 1.6 * k ** 6, 1.6 * k ** 7, 1.6 * k ** 8, 1.6 * k ** 9, \
1.6 * k ** 7, 1.6 * k ** 8, 1.6 * k ** 9, 1.6 * k ** 10, 1.6 * k ** 11])
I = cv2.imread(I_name).astype(float)
I_show = cv2.imread(I_name).astype(float)
I0 = cv2.imread(I_name, 0).astype(float)
I1 = misc.imresize(I0, 50, 'bilinear').astype(float)
I2 = misc.imresize(I0, 25, 'bilinear').astype(float)
I3 = misc.imresize(I0, 1/8.0, 'bilinear').astype(float)
I4 = misc.imresize(I0, 1/16.0, 'bilinear').astype(float)
o0sc = np.zeros((5, I0.shape[0],I0.shape[1]))
o1sc = np.zeros((5, I1.shape[0],I1.shape[1]))
o2sc = np.zeros((5, I2.shape[0],I2.shape[1]))
o3sc = np.zeros((5, I3.shape[0],I3.shape[1]))
o4sc = np.zeros((5, I4.shape[0],I4.shape[1]))
for i in range(0,5):
"""
o1sc[i,:,:] = cv2.filter2D(I0, -1, h.gauss(9, sigma1[i]))
o2sc[i,:,:] = misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 5])), 50, 'bilinear').astype(float)
o3sc[i,:,:] = misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 10])), 25, 'bilinear').astype(float)
o4sc[i,:,:] = misc.imresize(misc.imresize(cv2.filter2D(I0, -1, h.gauss(9,sigma1[i + 15])), 25, 'bilinear').astype(float), 50, 'bilinear').astype(float)
"""
o0sc[i,:,:] = ndimage.filters.gaussian_filter(I0, sigma1[i])
o1sc[i,:,:] = misc.imresize(ndimage.filters.gaussian_filter(I0, sigma1[i]), 50, 'bilinear')
o2sc[i,:,:] = misc.imresize(ndimage.filters.gaussian_filter(I0, sigma1[i]), 25, 'bilinear')
o3sc[i,:,:] = misc.imresize(ndimage.filters.gaussian_filter(I0, sigma1[i]), 1/8.0, 'bilinear')
o4sc[i,:,:] = misc.imresize(ndimage.filters.gaussian_filter(I0, sigma1[i]), 1/16.0, 'bilinear')
I = [o0sc[0], o0sc[1], o0sc[2], o0sc[3], o0sc[4], o1sc[0], o1sc[1], o1sc[2], o1sc[3], o1sc[4], \
o2sc[0], o2sc[1], o2sc[2], o2sc[3], o2sc[4], o3sc[0], o3sc[1], o3sc[2], o3sc[3], o3sc[4], \
o4sc[1], o4sc[2], o4sc[3], o4sc[4], o4sc[4]]
# point with orientation; [y, x, s, o]
final_points = []
ret_points = []
# length of outer list
o = 0
for p in points:
counter = 1
max_size_y = len(I[int(p[2])]) - (window_size)
max_size_x = len(I[int(p[2])][0]) - (window_size)
min_size_y = window_size
min_size_x = window_size
if ((p[0] < max_size_y) and (min_size_y < p[0]) and \
(p[1] < max_size_x and min_size_x < p[1])):
if (p[2] > 5 and p[2] < 8):
cv2.circle(I_show, (int(p[1] * 2), int(p[0] * 2)), 12, (0,255,0),2)
if (p[2] > 10 and p[2] < 13):
cv2.circle(I_show, (int(p[1] * 4), int(p[0] * 4)), 24, (255,0,0),2)
if (p[2] > 15 and p[2] < 18):
cv2.circle(I_show, (int(p[1] * 8), int(p[0] * 8)), 30, (125,125,0),2)
final_points.append(p)
o += 1
cv2.imwrite("points.jpg", I_show)
# size of all usable points o
print("length of usable points, orientation", o)
i = 0
for p in final_points:
bins = np.zeros([36])
window_size = 16
gauss_window = h.gauss(window_size, 1.5 * p[2])
ip_window = h.create_window(I[int(p[2])], p, window_size + 2)
orien_of_bin = []
# creates bin for each point
hold_mag = np.empty((window_size, window_size))
hold_ori = np.empty((window_size, window_size))
for y in range(0, window_size):
for x in range(0, window_size):
magnitude_p = magnitude(ip_window, [y + 1, x + 1])
orientation_p = orientation(ip_window, [y + 1, x + 1])
orientation_p = math.floor(orientation_p/10.0)
hold_mag[y, x] = magnitude_p
hold_ori[y, x] = orientation_p
hold_mag = np.multiply(hold_mag, gauss_window)
hold_mag = np.reshape(hold_mag, -1)
hold_ori = np.reshape(hold_ori, -1)
for j in range(0, len(hold_ori)):
bins[hold_ori[j]] += hold_mag[j]
# index of max element in bin
max_index = bins.argmax()
max_val = bins[max_index]
for j in range(0, 35):
if (bins[j] >= max_val * 0.8):
orien_of_bin.append(j)
new_orien = list(orien_of_bin)
cc = 0
for i in new_orien:
if (i == 1):
A = 0
B = bins[i]
C = bins[i + 1]
if (i == 35):
A = bins[i-1]
B = bins[i]
C = 0
else:
A = bins[i - 1]
B = bins[i]
C = bins[i + 1]
a = A + (C-A)/2.0 - B
b = (C-A)/2.0
c = B
if (b == 0 or a == 0):
toppoint = 0
else:
toppoint = -b / (2 * a)
degree = (toppoint * 10) + i * 10
#print(degree)
if (degree < 0):
degree = 360.0 + degree
ret_points.append([p[0], p[1], p[2], degree])
cc += 1
if (cc == 1):
break
counter += 1
ret_points = np.array(ret_points)
return (ret_points)
def sift_orientation(I, points, window_size):
"""
Input : image I, interest points, size of window
Output: assigns an orientation to the interest points
"""
# point with orientation; [[y, x],[o1, o2, o3]]
pwo = []
max_point_size_y = len(I[0]) - (window_size + 2)
min_point_size_y = window_size
max_point_size_x = len(I[0][0]) - (window_size + 5)
min_point_size_x = window_size
gauss_window = h.gauss(window_size, 1.5)
hold_mag = h.create_window(I[0], [35,35], window_size)
hold_ori = h.create_window(I[0], [35,35], window_size)
final_points = []
orien_of_bin = []
# length of outer list
o = 0
for p in points:
if ((p[0] < max_point_size_y and min_point_size_y < p[0]) and \
(p[1] < max_point_size_x and min_point_size_x < p[1])):
final_points.append(p)
o += 1
# size of all usable points o
bins = numpy.zeros([o, 1, 36])
#new 1
bins1 = numpy.zeros([o,1,36])
bins2 = numpy.zeros([o,1,36])
bins3 = numpy.zeros([o,1,36])
bins4 = numpy.zeros([o,1,36])
bins5 = numpy.zeros([o,1,36])
bins6 = numpy.zeros([o,1,36])
bins7 = numpy.zeros([o,1,36])
bins8 = numpy.zeros([o,1,36])
bins9 = numpy.zeros([o,1,36])
bins10 = numpy.zeros([o,1,36])
bins11 = numpy.zeros([o,1,36])
bins12 = numpy.zeros([o,1,36])
bins13 = numpy.zeros([o,1,36])
bins14 = numpy.zeros([o,1,36])
bins15 = numpy.zeros([o,1,36])
bins16 = numpy.zeros([o,1,36])
#new 2
i = 0
for p in final_points:
# if a point is too close to the border of the image, it is discarded
if ((p[0] < max_point_size_y and p[0] > min_point_size_y) and \
(p[1] < max_point_size_x and p[1] > min_point_size_x)):
ip_window = h.create_window(I[p[2]], p, window_size + 2)
# creates bin for each point
for y in range(0, window_size):
for x in range(0, window_size):
magnitude_p = magnitude(ip_window, [y + 1, x + 1])
orientation_p = orientation(ip_window, [y + 1, x + 1])
orientation_p = math.floor(orientation_p/10.0)
hold_mag[y][x] = magnitude_p
hold_ori[y][x] = orientation_p
hold_mag = numpy.multiply(hold_mag, gauss_window)
# new
W1 = h.create_window(hold_mag, [2,2], 4)
W2 = h.create_window(hold_mag, [2,6], 4)
W3 = h.create_window(hold_mag, [2,10], 4)
W4 = h.create_window(hold_mag, [2,14], 4)
W5 = h.create_window(hold_mag, [6,2], 4)
W6 = h.create_window(hold_mag, [6,6], 4)
W7 = h.create_window(hold_mag, [6,10], 4)
W8 = h.create_window(hold_mag, [6,14], 4)
W9 = h.create_window(hold_mag, [10,2], 4)
W10 = h.create_window(hold_mag, [10,6], 4)
W11 = h.create_window(hold_mag, [10,10], 4)
W12 = h.create_window(hold_mag, [10,14], 4)
W13 = h.create_window(hold_mag, [14,2], 4)
W14 = h.create_window(hold_mag, [14,6], 4)
W15 = h.create_window(hold_mag, [14,10], 4)
W16 = h.create_window(hold_mag, [14,14], 4)
O1 = h.create_window(hold_ori, [2,2], 4)
O2 = h.create_window(hold_ori, [2,6], 4)
O3 = h.create_window(hold_ori, [2,10], 4)
O4 = h.create_window(hold_ori, [2,14], 4)
O5 = h.create_window(hold_ori, [6,2], 4)
O6 = h.create_window(hold_ori, [6,6], 4)
O7 = h.create_window(hold_ori, [6,10], 4)
O8 = h.create_window(hold_ori, [6,14], 4)
O9 = h.create_window(hold_ori, [10,2], 4)
O10 = h.create_window(hold_ori, [10,6], 4)
O11 = h.create_window(hold_ori, [10,10], 4)
O12 = h.create_window(hold_ori, [10,14], 4)
O13 = h.create_window(hold_ori, [14,2], 4)
O14 = h.create_window(hold_ori, [14,6], 4)
O15 = h.create_window(hold_ori, [14,10], 4)
O16 = h.create_window(hold_ori, [14,14], 4)
# new
hold_mag = numpy.reshape(hold_mag, -1)
hold_ori = numpy.reshape(hold_ori, -1)
# new
W1 = numpy.reshape(W1, -1)
W2 = numpy.reshape(W2, -1)
W3 = numpy.reshape(W3, -1)
W4 = numpy.reshape(W4, -1)
W5 = numpy.reshape(W5, -1)
W6 = numpy.reshape(W6, -1)
W7 = numpy.reshape(W7, -1)
W8 = numpy.reshape(W8, -1)
W9 = numpy.reshape(W9, -1)
W10 = numpy.reshape(W10, -1)
W11 = numpy.reshape(W11, -1)
W12 = numpy.reshape(W12, -1)
W13 = numpy.reshape(W13, -1)
W14 = numpy.reshape(W14, -1)
W15 = numpy.reshape(W15, -1)
W16 = numpy.reshape(W16, -1)
O1 = numpy.reshape(O1, -1)
O2 = numpy.reshape(O2, -1)
O3 = numpy.reshape(O3, -1)
O4 = numpy.reshape(O4, -1)
O5 = numpy.reshape(O5, -1)
O6 = numpy.reshape(O6, -1)
O7 = numpy.reshape(O7, -1)
O8 = numpy.reshape(O8, -1)
O9 = numpy.reshape(O9, -1)
O10 = numpy.reshape(O10, -1)
O11 = numpy.reshape(O11, -1)
O12 = numpy.reshape(O12, -1)
O13 = numpy.reshape(O13, -1)
O14 = numpy.reshape(O14, -1)
O15 = numpy.reshape(O15, -1)
O16 = numpy.reshape(O16, -1)
for j in range(0,len(O1)):
bins1[i][0][O1[j]] += W1[j]
bins2[i][0][O2[j]] += W2[j]
bins3[i][0][O3[j]] += W3[j]
bins4[i][0][O4[j]] += W4[j]
bins5[i][0][O5[j]] += W5[j]
bins6[i][0][O6[j]] += W6[j]
bins7[i][0][O7[j]] += W7[j]
bins8[i][0][O8[j]] += W8[j]
bins9[i][0][O9[j]] += W9[j]
bins10[i][0][O10[j]] += W10[j]
bins11[i][0][O11[j]] += W11[j]
bins12[i][0][O12[j]] += W12[j]
bins13[i][0][O13[j]] += W13[j]
bins14[i][0][O14[j]] += W14[j]
bins15[i][0][O15[j]] += W15[j]
bins16[i][0][O16[j]] += W16[j]
# new
for j in range(0, len(hold_ori)):
bins[i][0][hold_ori[j]] += hold_mag[j]
hold_mag = h.create_window(I[0], [35,35], window_size)
hold_ori = h.create_window(I[0], [35,35], window_size)
bin_i = bins[i][0]
# new
bin_i_1 = bins1[i][0]
bin_i_2 = bins2[i][0]
bin_i_3 = bins3[i][0]
bin_i_4 = bins4[i][0]
bin_i_5 = bins5[i][0]
bin_i_6 = bins6[i][0]
bin_i_7 = bins7[i][0]
bin_i_8 = bins8[i][0]
bin_i_9 = bins9[i][0]
bin_i_10 = bins9[i][0]
bin_i_11 = bins11[i][0]
bin_i_12 = bins12[i][0]
bin_i_13 = bins13[i][0]
bin_i_14 = bins14[i][0]
bin_i_15 = bins15[i][0]
bin_i_16 = bins16[i][0]
max_val1 = max(bin_i_1)
max_index1 = [k for k, j in enumerate(bin_i_1) if j == max_val1]
max_val2 = max(bin_i_2)
max_index2 = [k for k, j in enumerate(bin_i_2) if j == max_val2]
max_val3 = max(bin_i_3)
max_index3 = [k for k, j in enumerate(bin_i_3) if j == max_val3]
max_val4 = max(bin_i_4)
max_index4 = [k for k, j in enumerate(bin_i_4) if j == max_val4]
max_val5 = max(bin_i_5)
max_index5 = [k for k, j in enumerate(bin_i_5) if j == max_val5]
max_val6 = max(bin_i_6)
max_index6 = [k for k, j in enumerate(bin_i_6) if j == max_val6]
max_val7 = max(bin_i_7)
max_index7 = [k for k, j in enumerate(bin_i_7) if j == max_val7]
max_val8 = max(bin_i_8)
max_index8 = [k for k, j in enumerate(bin_i_8) if j == max_val8]
max_val9 = max(bin_i_9)
max_index9 = [k for k, j in enumerate(bin_i_9) if j == max_val9]
max_val10 = max(bin_i_10)
max_index10 = [k for k, j in enumerate(bin_i_10) if j == max_val10]
max_val11 = max(bin_i_11)
max_index11 = [k for k, j in enumerate(bin_i_11) if j == max_val11]
max_val12 = max(bin_i_12)
max_index12 = [k for k, j in enumerate(bin_i_12) if j == max_val12]
max_val13 = max(bin_i_13)
max_index13 = [k for k, j in enumerate(bin_i_13) if j == max_val13]
max_val14 = max(bin_i_14)
max_index14 = [k for k, j in enumerate(bin_i_14) if j == max_val14]
max_val15 = max(bin_i_15)
max_index15 = [k for k, j in enumerate(bin_i_15) if j == max_val15]
max_val16 = max(bin_i_16)
max_index16 = [k for k, j in enumerate(bin_i_16) if j == max_val16]
# new
# index of max element in bin
max_index = max(bin_i)
max_index = [k for k, j in enumerate(bin_i) if j == max_index]
# finds points within 80% of interest point
holder_bin = []
holder_bin.append(max_index5[0])
max_val = bin_i[max_index5]
for j in range(0, 35):
if (bin_i[j] >= max_val * 0.8 and j != max_index5[0]):
holder_bin.append(j)
orien_of_bin.append(holder_bin)
i += 1
o = open('orientss.txt', 'w')
for i in orien_of_bin:
o.write(str(i) + "\n")
o.close()
