def onmouse(event, x, y, flags, param):
cur_vis = vis
if flags & cv2.EVENT_FLAG_LBUTTON:
cur_vis = vis0.copy()
r = 8
m = (anorm(np.array(p1) -
(x, y)) < r) | (anorm(np.array(p2) - (x, y)) < r)
idxs = np.where(m)[0]
kp1s, kp2s = [], []
for i in idxs:
(x1, y1), (x2, y2) = p1[i], p2[i]
col = (red, green)[status[i]]
cv2.line(cur_vis, (x1, y1), (x2, y2), col)
kp1, kp2 = kp_pairs[i]
kp1s.append(kp1)
kp2s.append(kp2)
cur_vis = cv2.drawKeypoints(cur_vis,
kp1s,
None,
flags=4,
color=kp_color)
cur_vis[:, w1:] = cv2.drawKeypoints(cur_vis[:, w1:],
kp2s,
None,
flags=4,
color=kp_color)
cv2.imshow(win, cur_vis)
'''
b_channel, g_channel, r_channel = cv2.split(cur_vis)
alpha_channel = np.ones((cur_vis.shape[0], cur_vis.shape[1]),dtype=np.uint8) #creating a dummy alpha channel image.
alpha_channel.fill(255)
img_RGBA = cv2.merge((b_channel, g_channel, r_channel, alpha_channel))
'''
send1.send('image', cur_vis)
def onmouse(event, x, y, flags, param):
cur_vis = vis
if flags & cv2.EVENT_FLAG_LBUTTON:
cur_vis = vis0.copy()
r = 8
m = (anorm(np.array(p1) -
(x, y)) < r) | (anorm(np.array(p2) - (x, y)) < r)
idxs = np.where(m)[0]
kp1s, kp2s = [], []
for i in idxs:
(x1, y1), (x2, y2) = p1[i], p2[i]
col = (red, green)[status[i]]
cv2.line(cur_vis, (x1, y1), (x2, y2), col)
kp1, kp2 = kp_pairs[i]
kp1s.append(kp1)
kp2s.append(kp2)
cur_vis = cv2.drawKeypoints(cur_vis,
kp1s,
None,
flags=4,
color=kp_color)
cur_vis[:, w1:] = cv2.drawKeypoints(cur_vis[:, w1:],
kp2s,
None,
flags=4,
color=kp_color)
cv2.imshow(win, cur_vis)
def onmouse(event, x, y, flags, param):
#cur_vis = vis
if flags & cv2.EVENT_FLAG_LBUTTON:
vis = vis0.copy()
r = 8
m = (anorm(p1 - (x, y)) < r) | (anorm(p2 - (x, y)) < r)
idxs = np.where(m)[0]
for i in idxs:
status[i] = not status[i]
draw_keypoints(vis)
cv2.imshow(win, vis)
if flags & cv2.EVENT_RBUTTONDOWN:
vis = vis0.copy()
r = 8
m = (anorm(p1 - (x, y)) < r) | (anorm(p2 - (x, y)) < r)
idxs = np.where(m)[0]
kp1s, kp2s = [], []
for i in idxs:
(x1, y1), (x2, y2) = p1[i], p2[i]
col = (red, green)[status[i]]
cv2.line(vis, (x1, y1), (x2, y2), col)
kp1, kp2 = kp_pairs[i]
kp1s.append(kp1)
kp2s.append(kp2)
vis = cv2.drawKeypoints(vis, kp1s, flags=4, color=kp_color)
vis[:,w1:] = cv2.drawKeypoints(vis[:,w1:], kp2s, flags=4, color=kp_color)
cv2.imshow(win, vis)
def onmouse(event, x, y, flags, param):
if event & cv2.EVENT_LBUTTONDOWN:
vis = vis0.copy()
r = 8
m = (anorm(p1 - (x, y)) < r) | (anorm(p2 - (x, y)) < r)
idxs = np.where(m)[0]
for i in idxs:
status[i] = not status[i]
draw_keypoints(vis)
cv2.imshow(win, vis)
# what is this supposed to do? Currently it's broken.
if event & cv2.EVENT_RBUTTONDOWN:
vis = vis0.copy()
r = 8
m = (anorm(p1 - (x, y)) < r) | (anorm(p2 - (x, y)) < r)
idxs = np.where(m)[0]
kp1s, kp2s = [], []
for i in idxs:
(x1, y1), (x2, y2) = p1[i], p2[i]
col = (red, green)[status[i]]
cv2.line(vis, (x1, y1), (x2, y2), col)
kp1, kp2 = kp_pairs[i]
kp1s.append(kp1)
kp2s.append(kp2)
vis = cv2.drawKeypoints(vis, kp1s, flags=4, color=kp_color)
vis[:, w1:] = cv2.drawKeypoints(vis[:, w1:],
kp2s,
flags=4,
color=kp_color)
cv2.imshow(win, vis)
def onmouse(event, x, y, flags, param):
cur_vis = vis
if flags & cv2.EVENT_FLAG_LBUTTON:
cur_vis = vis0.copy()
r = 8
m = (anorm(np.array(p1) - (x, y)) < r) | (anorm(np.array(p2) - (x, y)) < r)
idxs = np.where(m)[0]
kp1s, kp2s = [], []
for i in idxs:
(x1, y1), (x2, y2) = p1[i], p2[i]
col = (red, green)[status[i]]
cv2.line(cur_vis, (x1, y1), (x2, y2), col)
kp1, kp2 = kp_pairs[i]
kp1s.append(kp1)
kp2s.append(kp2)
cur_vis = cv2.drawKeypoints(cur_vis, kp1s, None, flags=4, color=kp_color)
cur_vis[:,w1:] = cv2.drawKeypoints(cur_vis[:,w1:], kp2s, None, flags=4, color=kp_color)
cv2.imshow(win, cur_vis)
'''
b_channel, g_channel, r_channel = cv2.split(cur_vis)
alpha_channel = np.ones((cur_vis.shape[0], cur_vis.shape[1]),dtype=np.uint8) #creating a dummy alpha channel image.
alpha_channel.fill(255)
img_RGBA = cv2.merge((b_channel, g_channel, r_channel, alpha_channel))
'''
send1.send('image', cur_vis)
def match(self, desc1, desc2):
res = []
for i in xrange(len(desc1)):
dist = anorm( desc2 - desc1[i] )
n1, n2 = dist.argsort()[:2]
r = dist[n1] / dist[n2]
res.append((i, n1, r))
return res
def onmouse(event, x, y, flags, param):
cur_vis = vis
if flags & cv.EVENT_FLAG_LBUTTON:
cur_vis = vis0.copy() r = 8 m = (anorm(np.array(p1) - (x, y)) < r) | (anorm(np.array(p2) - (x, y)) < r) idxs = np.where(m)[0]
kp1s, kp2s = [], []
for i in idxs:
(x1, y1), (x2, y2) = p1[i], p2[i] col = (red, green)[status[i][0]] cv.line(cur_vis, (x1, y1), (x2, y2), col) kp1, kp2 = kp_pairs[i] kp1s.append(kp1) kp2s.append(kp2) cur_vis = cv.drawKeypoints(cur_vis, kp1s, None, flags = 4, color = kp_color) cur_vis[: , w1: ] = cv.drawKeypoints(cur_vis[: , w1: ], kp2s, None, flags = 4, color = kp_color)
cv.imshow(win, cur_vis) cv.setMouseCallback(win, onmouse) return vis
if __name__ == '__main__':
print(__doc__)
import sys, getopt opts, args = getopt.getopt(sys.argv[1: ], '', ['feature=']) opts = dict(opts) feature_name = opts.get('--feature', 'brisk') try:
fn1, fn2 = args except:
fn1 = '../data/box.png'
fn2 = '../data/box_in_scene.png'
img1 = cv.imread(fn1, 0) img2 = cv.imread(fn2, 0) detector, matcher = init_feature(feature_name)
if img1 is None:
print('Failed to load fn1:', fn1) sys.exit(1)
if img2 is None:
print('Failed to load fn2:', fn2) sys.exit(1)
if detector is None:
print('unknown feature:', feature_name) sys.exit(1)
print('using', feature_name)
kp1, desc1 = detector.detectAndCompute(img1, None) kp2, desc2 = detector.detectAndCompute(img2, None) print('img1 - %d features, img2 - %d features' % (len(kp1), len(kp2)))
def match_and_draw(win):
print('matching...') raw_matches = matcher.knnMatch(desc1, trainDescriptors = desc2, k = 2) #2
p1, p2, kp_pairs = filter_matches(kp1, kp2, raw_matches) if len(p1) >= 4:
H, status = cv.findHomography(p1, p2, cv.RANSAC, 5.0) print('%d / %d inliers/matched' % (np.sum(status), len(status)))
else :
H, status = None, None
print('%d matches found, not enough for homography estimation' % len(p1))
_vis = explore_match(win, img1, img2, kp_pairs, status, H)
match_and_draw('find_obj') cv.waitKey()
def match(desc1, desc2, r_threshold = 0.75):
res = []
for i in xrange(len(desc1)):
dist = anorm( desc2 - desc1[i] )
n1, n2 = dist.argsort()[:2]
r = dist[n1] / dist[n2]
if r < r_threshold:
res.append((i, n1))
return np.array(res)
def match_bruteforce(desc1, desc2, r_threshold = 0.75):
res = []
for i in xrange(len(desc1)):
dist = anorm( desc2 - desc1[i] )
n1, n2 = dist.argsort()[:2]
r = dist[n1] / dist[n2]
if r < r_threshold:
res.append((i, n1))
return np.array(res)
def onmouse_wait(self, event, x, y, flags):
if event == cv.CV_EVENT_LBUTTONDOWN:
d = anorm(self.markers - (x, y))
if d.min() > 8:
return
self.drag_mark_idx = d.argmin()
self.mouse_state = self.onmouse_drag
if event == cv.CV_EVENT_RBUTTONDOWN:
self.markers[:] = self.markers0
self.update()
def onmouse(event, x, y, flags, param):
cur_vis = vis
if flags & cv2.EVENT_FLAG_LBUTTON:
cur_vis = vis0.copy()
r = 8
m = (anorm(np.array(p1) - (x, y)) < r) | (anorm(np.array(p2) - (x, y)) < r)
idxs = np.where(m)[0]
kp1s, kp2s = [], []
for i in idxs:
(x1, y1), (x2, y2) = p1[i], p2[i]
col = (red, green)[status[i]]
cv2.line(cur_vis, (x1, y1), (x2, y2), col)
kp1, kp2 = kp_pairs[i]
kp1s.append(kp1)
kp2s.append(kp2)
cur_vis = cv2.drawKeypoints(cur_vis, kp1s, None, flags=4, color=kp_color)
cur_vis[:,w1:] = cv2.drawKeypoints(cur_vis[:,w1:], kp2s, None, flags=4, color=kp_color)
cv2.imshow(win, cur_vis)
green = (0, 255, 0) red = (0, 0, 255) kp_color = (51, 103, 236) for (x1, y1), (x2, y2), inlier in zip(p1, p2, status):
if inlier:
col = green cv.circle(vis, (x1, y1), 2, col, -1) cv.circle(vis, (x2, y2), 2, col, -1)
else :
col = red
r = 2 thickness = 3 cv.line(vis, (x1 - r, y1 - r), (x1 + r, y1 + r), col, thickness) cv.line(vis, (x1 - r, y1 + r), (x1 + r, y1 - r), col, thickness) cv.line(vis, (x2 - r, y2 - r), (x2 + r, y2 + r), col, thickness) cv.line(vis, (x2 - r, y2 + r), (x2 + r, y2 - r), col, thickness) vis0 = vis.copy() for (x1, y1), (x2, y2), inlier in zip(p1, p2, status):
if inlier:
cv.line(vis, (x1, y1), (x2, y2), green)
cv.imshow(win, vis)
def onmouse(event, x, y, flags, param):
cur_vis = vis
if flags & cv.EVENT_FLAG_LBUTTON:
cur_vis = vis0.copy() r = 8 m = (anorm(np.array(p1) - (x, y)) < r) | (anorm(np.array(p2) - (x, y)) < r) idxs = np.where(m)[0]
kp1s, kp2s = [], []
for i in idxs:
(x1, y1), (x2, y2) = p1[i], p2[i] col = (red, green)[status[i][0]] cv.line(cur_vis, (x1, y1), (x2, y2), col) kp1, kp2 = kp_pairs[i] kp1s.append(kp1) kp2s.append(kp2) cur_vis = cv.drawKeypoints(cur_vis, kp1s, None, flags = 4, color = kp_color) cur_vis[: , w1: ] = cv.drawKeypoints(cur_vis[: , w1: ], kp2s, None, flags = 4, color = kp_color)
cv.imshow(win, cur_vis) cv.setMouseCallback(win, onmouse) return vis
if __name__ == '__main__':
print(__doc__)
import sys, getopt opts, args = getopt.getopt(sys.argv[1: ], '', ['feature=']) opts = dict(opts) feature_name = opts.get('--feature', 'brisk') try:
fn1, fn2 = args except:
fn1 = '../data/box.png'
fn2 = '../data/box_in_scene.png'
cv.CvtColor(frame, gray, cv.CV_BGR2GRAY)
tracks = [ [p] for p in detect(gray) ]
pnum = []
while True:
prev_gray = cv.CloneMat(gray)
cv.CvtColor(frame, gray, cv.CV_BGR2GRAY)
rs = random.rand(len(tracks))
tracks = [tr for tr, r in zip(tracks, rs) if len(tr) < life or r < 0.5]
p0 = [tr[-1] for tr in tracks]
p1 = track(prev_gray, gray, p0)
p0r = track(gray, prev_gray, p1)
good = (anorm(array(p0)-p0r) < 1.0)
if len(p1) > 0:
new_tracks = []
for tr, p, good_flag in zip(tracks, p1, good):
if good_flag:
tr.append(p)
new_tracks.append(tr)
tracks = new_tracks
cv.Set(mask, 255)
for x, y in int32(p1):
cv.Circle(mask, (x, y), 5, 0, -1)
tracks.extend( [ [p] for p in detect(gray, mask) ] )
vis = cv.CloneImage(frame)#gray2bgr(gray)
