def _detect_and_compute(self, frame: Frame):
if frame not in self._feature_hash:
keypoints, descriptors = self._orb.detectAndCompute(
frame.get_frame(), None)
self._feature_hash[frame] = (keypoints, descriptors)
return self._feature_hash[frame]
def _quantize_frame(self, frame: Frame):
"""
Normalize pixel values from 0-255 to values from 0-self._scale_factor
Returns quantized frame
"""
return np.floor(frame.get_frame().astype(np.float32) *
self._scale_factor / 255.0).astype(np.int32)
def _detect_and_compute(self, frame: Frame):
if frame not in self._feature_hash:
keypoints = self._fast.detect(frame.get_frame(), None)
keypoints = ssc(
keypoints,
10000,
0.1,
frame.get_frame().shape[1],
frame.get_frame().shape[0],
)
descriptors = self._orb.compute(frame.get_frame(), keypoints)
keypoints = descriptors[0]
descriptors = descriptors[1]
self._feature_hash[frame] = (keypoints, descriptors)
return self._feature_hash[frame]