def __init__(self, ratio_matching = 0.5, ratio_pose = 0.5, detecteur = 'fast', descripteur = 'orb'):
self.ratio_matching = ratio_matching
self.ratio_pose = ratio_pose
self.detecteur = detecteur
self.descripteur = descripteur
self.detecteurs = { 'akaze': cv2.AKAZE_create(),
'agast': cv2.AgastFeatureDetector_create(),
'brisk': cv2.BRISK_create(),
'fast' : cv2.FastFeatureDetector_create(),
'gftt' : cv2.GFTTDetector_create(),
'kaze' : cv2.KAZE_create(),
'mser' : cv2.MSER_create(),
'orb' : cv2.ORB_create(),
'blob' : cv2.SimpleBlobDetector_create() }
self.descripteurs = {'brisk': cv2.BRISK_create(),
'orb' : cv2.ORB_create(),}
self.detector = self.detecteurs[self.detecteur]
self.descriptor = self.descripteurs[self.descripteur]
self.matcheur = cv2.BFMatcher(normType = self.descriptor.defaultNorm(), crossCheck = True )
self.KF = []
self.current_kf = None
self.traj = []
self.current_time = 0
self.prev_pts = None
print 'construction du SLAM'
def BRISK_descriptor(img_0, img_1, keypoints_0, keypoints_1, transformation,
descriptor):
descriptor_brisk = cv2.BRISK_create()
_, descriptor_0 = descriptor_brisk.compute(img_0, keypoints_0)
_, descriptor_1 = descriptor_brisk.compute(img_1, keypoints_1)
bf = cv2.BFMatcher()
matches = bf.match(descriptor_0, descriptor_1)
matches = sorted(matches, key=lambda x: x.distance)
img_match = cv2.drawMatches(
img_0,
keypoints_0,
img_1,
keypoints_1,
matches[:10],
None,
flags=cv2.DrawMatchesFlags_NOT_DRAW_SINGLE_POINTS)
plt.figure()
plt.imshow(img_match)
plt.title(transformation + ':' + descriptor + 'matching')
plt.show()
def _set_cv2_instance(self):
"""
feature_typeに合わせたopencvのインスタンスを生成する
対応：ORB, BRISK
"""
params = self.DEFAULT_PARAMS[self.feature_type]
for param in params.keys():
if param in self.kwargs:
params[param] = self.kwargs[param]
self.cv2_params = params
if self.feature_type == "orb":
self.fe = cv2.ORB_create(
edgeThreshold=0,
patchSize=params["patchSize"],
scaleFactor=params["scaleFactor"]
)
elif self.feature_type == "brisk":
# gridで抽出するためthresholdは0とする
self.fe = cv2.BRISK_create(
thresh=0,
octaves=params["octaves"],
patternScale=params["patternScale"]
)
elif self.feature_type == "sift":
self.fe = cv2.xfeatures2d.SIFT_create(
contrastThreshold=params["contrastThreshold"],
edgeThreshold=params["edgeThreshold"],
sigma=params["sigma"]
)
def describe(self, image):
descriptor = cv2.BRISK_create()
if self.useSIFT:
descriptor = cv2.xfeatures2d.SIFT_create()
(kps, descs) = descriptor.detectAndCompute(image, None)
kps = np.float32([kp.pt for kp in kps])
return (kps, descs)
def main():
parser = argparse.ArgumentParser(description="Landmark manager.")
parser.add_argument("image", type=str, help="frontal view of the landmark")
parser.add_argument("output", type=str, help="output xml file name")
parser.add_argument("--debug", action="store_true", help="debug mode")
parser.add_argument("--ppu",
type=float,
default=30.0,
help="pixels per (real world) unit")
args = parser.parse_args()
image = imread(args.image)[..., :3]
# fextractor = cv2.ORB_create(500)
fextractor = cv2.BRISK_create()
# fextractor = cv2.xfeatures2d.SIFT_create()
# fextractor = cv2.xfeatures2d.SURF_create()
# fextractor = cv2.xfeatures2d.DAISY_create() # Not working
orientations = get_orientations(0)
keypoints, descriptors, image_size, real_size = process_landmark(
image,
pixels_per_unit=args.ppu,
feature_extractor=fextractor,
orientations=orientations,
debug=args.debug)
save(args.output, keypoints, descriptors, image_size, real_size)
def __init__(self):
self.inited = False
self.descriptors = []
self.path_to_icons = r'./res/img/priconne/unit/'
self._path_to_icons = os.path.expanduser(self.path_to_icons)
self.default_result = (1000, 3)
self.classify_thresh = 15
self.classify_distance_k = 3.0
self.classify_calc_times = 10
self.star_position_xs = [0.125, 0.25, 0.375, 0.5, 0.625]
self.star_position_ys = [0.86] * 5
self.icon_norm_size = (70, 70)
self.f_cid = lambda s: int(s[10:14])
self.f_star = lambda s: int(s[14])
self._extractor = cv2.BRISK_create(thresh=10, octaves=2)
# self._extractor = cv2.xfeatures2d.SIFT_create()
# self._extractor = cv2.ORB_create()
# self._extractor = cv2.xfeatures2d.SURF_create()
self._matcher = cv2.BFMatcher(cv2.NORM_L2)
def init_detector(self):
"""Init keypoint detector object."""
self.detector = cv2.BRISK_create()
# create BFMatcher object:
self.matcher = cv2.BFMatcher(
cv2.NORM_HAMMING
) # cv2.NORM_L1 cv2.NORM_L2 cv2.NORM_HAMMING(not useable)
def getFeaturesByDetector(mode,img):
detector = cv2.SimpleBlobDetector_create()
if mode == featuresDetector.Agast:
detector = cv2.AgastFeatureDetector_create()
elif mode == featuresDetector.AKAZE:
detector = cv2.AKAZE_create()
elif mode == featuresDetector.BRISK:
detector = cv2.BRISK_create()
elif mode == featuresDetector.FAST:
detector = cv2.FastFeatureDetector_create()
elif mode == featuresDetector.KAZE:
detector = cv2.KAZE_create()
elif mode == featuresDetector.MSER:
detector = cv2.MSER_create()
elif mode == featuresDetector.ORB:
detector = cv2.ORB_create()
elif mode == featuresDetector.SIFT:
detector = cv2.xfeatures2d.SIFT_create()
elif mode == featuresDetector.SimpleBlob:
detector = cv2.SimpleBlobDetector_create()
keypoints = detector.detect(img)
descriptors = detector.compute(img, keypoints)
return descriptors
def FAST_n_BRIEF(img1, img2, n=1000, threshold=40):
#test1=cv2.imread(img1,0)
#test2=cv2.imread(img2,0)
test1 = img1
test2 = img2
fast = cv2.FastFeatureDetector_create(threshold=threshold)
kp1 = fast.detect(test1, None)
kp2 = fast.detect(test2, None)
#mark1=cv2.drawKeypoints(test1,kp1,None,color=(0,0,255),flags=0)
#orient1=cv2.drawKeypoints(test1,kp1,None,color=(0,0,255),flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
#mark2=cv2.drawKeypoints(test2,kp2,None,color=(255,0,0),flags=0)
#orient2=cv2.drawKeypoints(test2,kp2,None,color=(255,0,0),flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
brisk = cv2.BRISK_create(thresh=75)
kp1, des1 = brisk.compute(test1, kp1)
kp2, des2 = brisk.compute(test2, kp2)
bf = cv2.BFMatcher(cv2.NORM_HAMMING)
matches = bf.match(des1, des2)
matches = sorted(matches, key=lambda x: x.distance)
#result = cv2.drawMatches(mark1,kp1,mark2,kp2,matches[:min(n, len(matches))],None,matchColor=[0,255,0], flags=2)
#plt.imshow(result, interpolation = 'bicubic')
#plt.axis('off')
#plt.show()
return kp1, kp2, matches
def extract(image_path, type="ORB", ifShow=False):
image = cv2.imread(image_path, 0)
if type == "AKAZE":
fe = cv2.AKAZE_create()
elif type == "BRISK":
fe = cv2.BRISK_create()
elif type == "KAZE":
fe = cv2.KAZE_create()
elif type == "ORB":
fe = cv2.ORB_create()
elif type == "SIFT":
fe = cv2.xfeatures2d.SIFT_create()
elif type == "SURF":
fe = cv2.xfeatures2d.SURF_create()
kp, des = fe.detectAndCompute(image, None)
if ifShow:
im2show = cv2.drawKeypoints(image,
kp,
None,
color=(0, 255, 0),
flags=0)
print('%s descriptors number is %d .' % (type, len(des)))
cv2.imshow(type, im2show)
cv2.waitKey(0)
return des
def getDetector(index):
ALGO_TYPE = index
if (ALGO_TYPE == 0):
detector = cv.xfeatures2d.SIFT_create()
elif (ALGO_TYPE == 1):
detector = cv.xfeatures2d.SURF_create()
elif (ALGO_TYPE == 2):
detector = cv.ORB_create(nfeatures=1000,
scaleFactor=1.2,
WTA_K=2,
scoreType=cv.ORB_FAST_SCORE)
elif (ALGO_TYPE == 3):
detector = cv.BRISK_create()
elif (ALGO_TYPE == 4):
detector = cv.KAZE_create()
elif (ALGO_TYPE == 5):
detector = cv.AKAZE_create()
if (ALGO_TYPE == 0 or ALGO_TYPE == 1 or ALGO_TYPE == 4):
flannParam = dict(algorithm=FLANN_INDEX_KDITREE, tree=5)
matcher = cv.FlannBasedMatcher(flannParam, {})
elif (ALGO_TYPE == 2 or ALGO_TYPE == 3 or ALGO_TYPE == 5):
matcher = cv.BFMatcher(cv.NORM_HAMMING)
return (detector, matcher)
def brisk(self):
default_dir = ""
savePath = tkinter.filedialog.askdirectory(
title=u"保存路径", initialdir=(os.path.expanduser(default_dir)))
# path = 'C:/Users/sls/Desktop/1/' # 图片读取的目录，更改成自己需要的
path = self.filePath + '/'
pathDir = os.listdir(path)
for eachDir in pathDir:
imgPath = path + eachDir
print(imgPath)
img = cv2.imread(imgPath)
brisk = cv2.BRISK_create()
(kpt, desc) = brisk.detectAndCompute(img, None)
bk_img = img.copy()
out_img = img.copy()
out_img = cv2.drawKeypoints(bk_img, kpt, out_img)
win = cv2.namedWindow('brisk', flags=0)
cv2.imshow('brisk', out_img)
cv2.imwrite(savePath + '/' + eachDir, out_img)
cv2.waitKey(0)
cv2.destroyAllWindows()
self.dialogText.config(state=NORMAL)
ss = '\n Brisk角点检测的图片已保存\n'
self.dialogText.insert(
0.0,
time.strftime("%Y-%m-%d %H:%M:%S", time.localtime()) + '%s' % (ss))
def BRISK():
# Initiate BRISK descriptor
BRISK = cv.BRISK_create(thresh = 30,
octaves = 3,
patternScale = 1.0)
return BRISK
def input_value(scn_img):
h1, w1 = scn_img.shape[:2]
scn_img = resize(h1, w1, 640, scn_img)
hr1, wr1 = scn_img.shape[:2]
#==================================================>KPT_SCN
# fast:
# fast = cv2.FastFeatureDetector_create(49)
# kp1 = fast.detect(scn_img,masked_data)
# brisk:
detector = cv2.BRISK_create(70, 2, .5)
kp1 = detector.detect(scn_img, None)
# for k in kp1:
# x,y=k.pt
# print x,y
#==================================================>DESCRIPTOR_SCN
# brisk:
kp1, des1 = detector.compute(scn_img, kp1)
savekeyPointsOnImage(scn_img, "input1.jpg", kp1, wr1, hr1)
# img4 = cv2.drawKeypoints(scn_img, kp1,None, color=(0,255,255))
# cv2.imwrite('input1.jpg', img4)
return kp1, des1
def __init__(self, type='sift'):
self.type = type
#self.matcher_type = matcher_type
if type == 'sift':
self.detector = cv.xfeatures2d.SIFT_create()
self.extractor = None
elif type == 'surf':
self.detector = cv.xfeatures2d.SURF_create(300)
self.extractor = None
elif type == 'orb':
self.detector = cv.ORB_create(400)
self.extractor = None
elif type == 'akaze':
self.detector = cv.AKAZE_create()
self.extractor = None
elif type == '_kaze':
self.detector = cv.KAZE_create()
self.extractor = None
elif type == 'brisk':
self.detector = cv.BRISK_create()
self.extractor = None
elif type == 'freak':
self.detector = cv.xfeatures2d.StarDetector_create(20, 15)
self.extractor = cv.xfeatures2d.FREAK_create()
self.norm = cv.NORM_HAMMING
elif type == 'brief':
self.detector = cv.xfeatures2d.StarDetector_create(20, 15)
self.extractor = cv.xfeatures2d.BriefDescriptorExtractor_create()
else:
self.extractor = cv.xfeatures2d.FREAK_create()
self.detector = None
self.extractor = None
self.norm = None
def create_detector(detect):
detector = None
#free ones first
if detect == 'orb':
detector = cv2.ORB_create(nfeatures=100000)
if detect == 'akaze':
detector = cv2.AKAZE_create()
if detect == 'brisk':
detector = cv2.BRISK_create()
#proprietary second
if detect == 'sift':
detector = cv2.xfeatures2d.SIFT_create()
if detect == 'surf':
detector = cv2.xfeatures2d.SURF_create()
if detect == 'freak':
detector = cv2.xfeatures2d.FREAK_create()
if detect == 'latch':
detector = cv2.xfeatures2d.LATCH_create()
if detect == 'daisy':
detector = cv2.xfeatures2d.DAISY_create()
if detect == 'lucid':
detector = cv2.xfeatures2d.LUCID_create()
if detector == None:
print "Could not find a detector of that name"
exit()
print "Processing images using:", detect
return detector
def __init__(self, algorithm='BRISK'):
if 'ORB' == algorithm:
self.alg = cv2.ORB_create()
elif 'AKAZE' == algorithm:
self.alg = cv2.AKAZE_create()
else:
self.alg = cv2.BRISK_create()
def live_demo():
# initialises fastfeaturedetector to get initial points of interests
fast = cv2.FastFeatureDetector_create(threshold=50, nonmaxSuppression=50)
# initialises Binary Robust Invariant Scalable Keypoints for
# keypoint descriptor analyze
br = cv2.BRISK_create()
# BruteForce matcher to compare matches
bf = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=True)
from src.process import ImageProcess as ip
from src.templates import make_templates
# initialize the data of the templates
ct_models = make_templates('CT', fast, br)
start = time()
while True:
# captures the screen with ImageGrab in RGB.
screen = np.array(ImageGrab.grab(bbox=(0, 27, 800, 627)))
# converts it to BGR
screen = cv2.cvtColor(screen, cv2.COLOR_RGB2BGR)
process = ip(screen, ct_models, fast, br, bf, 'draw')
print('Loop took: {:.5} seconds'.format(time() - start))
cv2.imshow('AimAssistant', process.image)
start = time()
if cv2.waitKey(25) & 0xFF == ord('q'):
cv2.destroyAllWindows()
break
def initialize(self, device):
if self.type == "sift":
self.model = cv.SIFT_create(nfeatures=self.n_keypoints)
elif self.type == "orb":
self.model = cv.ORB_create(nfeatures=self.n_keypoints)
elif self.type == "brisk":
self.model = cv.BRISK_create()
def extract_local_features(images, img_size=300):
brisk = cv2.BRISK_create(30)
#sift = cv2.SIFT_create()
#surf = cv2.SURF(400)
labeled_featured_images = []
print('[STATUS] extracting local featured from', len(images), 'images')
for i, image in enumerate(images):
resized_arr = cv2.resize(image, (img_size, img_size))
kpts, des = brisk.detectAndCompute(resized_arr, None)
# create picture with detected kpts
if (i == 0):
print(len(kpts))
print(brisk.descriptorSize())
img = cv2.drawKeypoints(
resized_arr,
kpts,
resized_arr,
flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
cv2.imwrite('brisk_keypoints.jpg', img)
labeled_featured_images.append(des)
if (i + 1) % 100 == 0:
print('[STATUS]', i + 1, 'images processed')
print('[STATUS] feature extraction of', i + 1, 'images processed')
return labeled_featured_images
def image_match3(image1, image2):
MIN_MATCH_COUNT = 10
img1 = cv2.imread(image1, 0) # queryImage
img2 = cv2.imread(image2, 0) # trainImage
# Initiate brisk detector
# orb=cv2.ORB_create()
# kp1,des1=orb.detectAndCompute(img1,None)
# kp2,des2=orb.detectAndCompute(img2,None)
brisk = cv2.BRISK_create()
kp1, des1 = brisk.detectAndCompute(img1, None)
kp2, des2 = brisk.detectAndCompute(img2, None)
#
#FLANN_INDEX_KDTREE = 0
#index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
#search_params = dict(checks = 50)
FLANN_INDEX_LSH = 6
index_params = dict(
algorithm=FLANN_INDEX_LSH,
table_number=6, #12
key_size=12, #20
multi_probe_level=1) #2
search_params = dict(checks=100)
flann = cv2.FlannBasedMatcher(index_params, search_params)
matches = flann.knnMatch(des1, des2, k=2)
# store all the good matches as per Lowe's ratio test.
good = []
for m, n in matches:
if m.distance < 0.7 * n.distance:
good.append(m)
if len(good) > MIN_MATCH_COUNT:
src_pts = np.float32([kp1[m.queryIdx].pt
for m in good]).reshape(-1, 1, 2)
dst_pts = np.float32([kp2[m.trainIdx].pt
for m in good]).reshape(-1, 1, 2)
M, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 5.0)
matchesMask = mask.ravel().tolist()
h, w = img1.shape
pts = np.float32([[0, 0], [0, h - 1], [w - 1, h - 1],
[w - 1, 0]]).reshape(-1, 1, 2)
dst = cv2.perspectiveTransform(pts, M)
img2 = cv2.polylines(img2, [np.int32(dst)], True, 255, 3, cv2.LINE_AA)
print("good")
return True
else:
print("Not enough matches are found - %d/%d" %
(len(good), MIN_MATCH_COUNT))
matchesMask = None
return False
def test_image(path):
cv_img = []
for img in glob.glob(path+"*.jpg"):
n = cv2.imread(img)
cv_img.append(n)
for i in range(len(cv_img)):
cv_img[i]=createSkeletonImage.create_skeleton(cv_img[i])
cv_img[i]=cv2.cvtColor(cv_img[i],cv2.COLOR_BGR2GRAY)
shape=[]
height = 0
width = 0
for i in range(len(cv_img)):
shape.append(cv_img[i].shape[:2])
if shape[i][0] > height:
height=shape[i][0]
width+=shape[i][1]
image_template=np.zeros((height,width), np.uint8)
temp=0
for i in range(len(shape)):
#print(type(shape[i][0]))
image_template[:shape[i][0], temp:temp+shape[i][1]]=cv_img[i]
temp=shape[i][1]
#print(image_template.shape)
brisk = cv2.BRISK_create(thresh= 10, octaves= 4)
keyPoints= brisk.detect(image_template, None)
keyPoints, descriptors = brisk.compute(image_template, keyPoints)
print(descriptors.shape)
check_templates(descriptors)
def __init__(self, *args, **kwargs):
"""
Constructor for CollectProcess class.
Initialize the fast, brisk and bf detectors. Loads the templates data and
create the directory for collection.
:param args:
:param kwargs:
"""
self.__fast = cv2.FastFeatureDetector_create(threshold=50,
nonmaxSuppression=50)
self.__br = cv2.BRISK_create()
self.__bf = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=True)
try:
model_type = kwargs['model_type']
except KeyError:
model_type = 'CT'
self.__templates = make_templates(model_type, self.__fast, self.__br)
self.__modes = args
self.__kwargs = kwargs
self.__dp = DataPath()
self.__file_index = self.__dp.get_index('collected')
self.__dir = os.path.join(self.__dp.collected, str(self.__file_index))
os.mkdir(self.__dir)
self.__index = 0
col_names = ('detections', 'intensity', 'fast_kp', 'process_time')
self.__df = pd.DataFrame(columns=col_names)
def descriptor(path):
frame = cv2.imread(path)
frame = cv2.resize(frame, (128, 128))
convertedgray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
convertedhsv = cv2.cvtColor(frame, cv2.COLOR_BGR2HSV)
#cv2.imshow("hsv",convertedhsv)
lowerBoundary = np.array([0, 40, 30], dtype="uint8") #hsv ranges for skin
upperBoundary = np.array([43, 255, 254], dtype="uint8")
skinMask = cv2.inRange(convertedhsv, lowerBoundary, upperBoundary)
#cv2.imshow("inrange",skinMask)
skinMask = cv2.addWeighted(skinMask, 0.5, skinMask, 0.5, 0.0)
#cv2.imshow("masked",skinMask)
skinMask = cv2.medianBlur(skinMask, 5) #remove noise
skin = cv2.bitwise_and(convertedgray, convertedgray,
mask=skinMask) #mask out hand
img2 = cv2.Canny(skin, 60, 60)
brisk = cv2.BRISK_create()
#brisk = cv2.xfeatures2d.SURF_create()
img2 = cv2.resize(img2, (256, 256))
kp, des = brisk.detectAndCompute(img2, None)
img2 = cv2.drawKeypoints(img2, kp, None, (0, 0, 255), 4)
#plt.imshow(img2),plt.show()
#cv2.waitKey(0)
cv2.destroyAllWindows()
#print(len(des))
return des
def detect_kp(img, det_type='SIFT', verbose=False):
"""Detect keypoints."""
if det_type == 'ORB':
detector = cv2.ORB_create()
elif det_type == 'BRISK':
detector = cv2.BRISK_create()
else:
detector = cv2.SIFT_create()
t0 = time.time()
kp, des = detector.detectAndCompute(img, None)
elapsed = time.time() - t0
# Show detected
if verbose:
img_keypoints = np.empty((img.shape[0], img.shape[1], 3),
dtype=np.uint8)
cv2.drawKeypoints(img, kp, img_keypoints)
cv2.namedWindow('img', cv2.WINDOW_NORMAL)
cv2.imshow('img', img_keypoints)
cv2.waitKey()
cv2.destroyWindow('img')
return kp, des, elapsed / len(kp)
def __init__(self, config='GFTT-BRIEF'):
super().__init__()
if config == 'GFTT-BRIEF':
self.feature_detector = cv2.GFTTDetector_create(
maxCorners=1000,
minDistance=12.0,
qualityLevel=0.001,
useHarrisDetector=False)
self.descriptor_extractor = cv2.xfeatures2d.BriefDescriptorExtractor_create(
bytes=32, use_orientation=False)
elif config == 'GFTT-BRISK':
self.feature_detector = cv2.GFTTDetector_create(
maxCorners=2000,
minDistance=15.0,
qualityLevel=0.01,
useHarrisDetector=False)
self.descriptor_extractor = cv2.BRISK_create()
elif config == 'ORB-ORB':
self.feature_detector = cv2.ORB_create(nfeatures=1000,
scaleFactor=1.2,
nlevels=1,
edgeThreshold=31)
self.descriptor_extractor = self.feature_detector
else:
raise NotImplementedError
self.descriptor_matcher = cv2.BFMatcher(cv2.NORM_HAMMING,
crossCheck=False)
self.matching_cell_size = 15 # pixels
self.matching_neighborhood = 3
self.matching_distance = 30
self.frustum_near = 0.1 # meters
self.frustum_far = 1000.0
self.ground = True
self.lc_max_inbetween_distance = 50
self.lc_distance_threshold = 15
self.lc_embedding_distance = 20.0
self.view_image_width = 400
self.view_image_height = 130
self.view_camera_width = 0.75
self.view_viewpoint_x = 0
self.view_viewpoint_y = -500 # -10
self.view_viewpoint_z = -100 # -0.1
self.view_viewpoint_f = 2000
self.line_detector = cv2.line_descriptor.BinaryDescriptor_createBinaryDescriptor(
)
self.line_extractor = self.line_detector
self.line_matching_distance = 30
def set_descriptor(name):
desc = None
if name == "SIFT":
desc = cv2.xfeatures2d.SIFT_create()
elif name == "SURF":
desc = cv2.xfeatures2d.SURF_create()
elif name == "ORB":
desc = cv2.ORB_create()
elif name == "BRISK":
desc = cv2.BRISK_create()
elif name == "Brief":
desc = cv2.xfeatures2d.BriefDescriptorExtractor_create()
elif name == "FREAK":
desc = cv2.xfeatures2d.FREAK_create()
elif name == "LATCH":
desc = cv2.xfeatures2d.LATCH_create()
elif name == "AKAZE":
desc = cv2.AKAZE_create()
elif name == "KAZE":
desc = cv2.KAZE_create()
elif name == "DAISY":
desc = cv2.xfeatures2d.DAISY_create()
elif name == "LUCID":
desc = cv2.xfeatures2d.LUCID_create()
return desc
def _imgStitcher(imgX, imgY, pcntDownsize=1.0, tryReverse=False):
imgGrayX = _imgPreprocess(imgX, pcntDownsize)
imgGrayY = _imgPreprocess(imgY, pcntDownsize)
# Use BRISK to create key points in each image
brisk = cv2.BRISK_create()
kpX, desX = brisk.detectAndCompute(imgGrayX, None)
kpY, desY = brisk.detectAndCompute(imgGrayY, None)
# Use BruteForce algorithm to detect matches among image keypoints
dm = cv2.DescriptorMatcher_create("BruteForce")
matches = dm.knnMatch(desX, desY, 2)
filteredMatches = []
for m in matches:
if len(m) == 2 and m[0].distance < m[1].distance * 0.75:
filteredMatches.append((m[0].trainIdx, m[0].queryIdx))
kpX = numpy.float32([kpX[m[1]].pt for m in filteredMatches])
kpX = kpX.reshape(-1, 1, 2)
kpY = numpy.float32([kpY[m[0]].pt for m in filteredMatches])
kpY = kpY.reshape(-1, 1, 2)
# Calculate homography matrix
H, mask = cv2.findHomography(kpY, kpX, cv2.RANSAC, 4.0)
if H is None and not tryReverse:
# Try again with 100% scaling
H = _imgStitcher(imgX, imgY, 1.0, True)
if H is None:
H = [[0.0, 0.0, 0.0], [0.0, 0.0, 0.0], [0.0, 0.0, 0.0]]
return (H)
def init_feature(name):
chunks = name.split('-')
if chunks[0] == 'sift':
detector = cv.xfeatures2d.SIFT_create()
norm = cv.NORM_L2
elif chunks[0] == 'surf':
detector = cv.xfeatures2d.SURF_create(800)
norm = cv.NORM_L2
elif chunks[0] == 'orb':
detector = cv.ORB_create(400)
norm = cv.NORM_HAMMING
elif chunks[0] == 'akaze':
detector = cv.AKAZE_create()
norm = cv.NORM_HAMMING
elif chunks[0] == 'brisk':
detector = cv.BRISK_create()
norm = cv.NORM_HAMMING
else:
return None, None
if 'flann' in chunks:
if norm == cv.NORM_L2:
flann_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
else:
flann_params= dict(algorithm = FLANN_INDEX_LSH,
table_number = 6, # 12
key_size = 12, # 20
multi_probe_level = 1) #2
matcher = cv.FlannBasedMatcher(flann_params, {}) # bug : need to pass empty dict (#1329)
else:
matcher = cv.BFMatcher(norm)
return detector, matcher
def brisk_thread():
brisk = cv2.BRISK_create()
(kps5, descs5) = brisk.detectAndCompute(gray, None)
cv2.drawKeypoints(gray,
kps5,
img_brisk,
flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)