def __init__(self, fx, cx, cy):
self.last_frame = None
self.R = None
self.t = None
self.px_ref = None
self.px_cur = None
self.focal = fx
self.pp = (cx, cy)
self.detector = cv2.FastFeatureDetector_create(threshold=25,
nonmaxSuppression=True)
def __init__(self,
parts,
images,
topMatches=20,
drawMatches=True,
iteration=None):
super().__init__(parts, images, topMatches, drawMatches, iteration)
self.bf = cv.BFMatcher(cv.NORM_HAMMING, crossCheck=True)
self.fast = cv.FastFeatureDetector_create()
self.brief = cv.xfeatures2d.BriefDescriptorExtractor_create()
def main():
# Initiate FAST object with default values
fast = cv.FastFeatureDetector_create(threshold=THRESHOLD)
print("Processing...")
timer = utils.Timer()
timer.start()
# Create frames from video
# reader = imageio.get_reader(f'imageio:videos/explosions.mp4')
# for i, img in enumerate(reader):
# For creating video
if not os.path.exists(VIDEOS_DIR):
os.mkdir(VIDEOS_DIR)
writer = imageio.get_writer(OUT_VIDEO_FILENAME, fps=FPS)
print(f"Getting keypoints from video {VIDEO_FILENAME}...")
# Reading video
cap = cv.VideoCapture(VIDEO_FILENAME)
counter = 0
total_frames = DURATION * FPS
step_size = np.ceil(total_frames / 100).astype(int)
bar = Bar("Processing...", max=100, suffix='%(percent)d%%')
bar.check_tty = False
particles = []
h = None
w = None
while cap.isOpened():
ret, frame = cap.read()
if not h:
w, h, _ = frame.shape
kp = fast.detect(frame, None)
# Get list of keypoints per frame
keypoints = process_keypoints(kp)
# Apply effect to keypoints (create particles per frame)
delta_time = 1 / FPS
particles = particle_effects(keypoints, particles, delta_time, w, h)
# Render the particles into an image for the output video
img_arr = render(particles)
# Append rendered image into video
writer.append_data(img_arr)
# Write rendered image into image file
if counter < 90:
img = Image.fromarray(img_arr)
output_img_filename = f"output/{counter}.jpg"
img.save(output_img_filename, quality=MAX_QUALITY)
counter += 1
if counter % step_size == 0:
bar.next()
# Check if this is the end of the video
if not ret:
break
cap.release()
bar.finish()
print("Writing video")
writer.close()
timer.stop()
print(f"Total time spent {timer}")
def featureDetection(image1):
fast = cv2.FastFeatureDetector_create(threshold=25, nonmaxSuppression=True)
#fast = cv2.FastFeatureDetector_create()
# FAST return list, convert to numpy array
kp = fast.detect(image1, None)
kp = np.array([k.pt for k in kp], dtype=np.float32)
#kp = np.asarray(kp ,dtype=np.float32)
#img2 = cv2.drawKeypoints(image1, kp, None, color=(0,255,0))
#kp = cv2.goodFeaturesToTrack(image1, mask = None, **feature_params)
return kp
def features(lp, lc):
fast = cv2.FastFeatureDetector_create(threshold=50)
orb = cv2.ORB_create() # Feature detection using ORB
kp_left_prev = fast.detect(lp, None)
kp_left_cur = fast.detect(lc, None)
kp_left_prev, des_left_prev = orb.compute(lp, kp_left_prev)
kp_left_cur, des_left_cur = orb.compute(lc, kp_left_cur)
return kp_left_prev, kp_left_cur, des_left_prev, des_left_cur
def right_prev(right_image_prev):
fast = cv2.FastFeatureDetector_create(
threshold=50) #, nonmaxSuppression=True)
orb = cv2.ORB_create() # Feature detection using ORB
kp_right_prev = fast.detect(right_image_prev, None)
kp_right_prev, des_right_prev = orb.compute(right_image_prev,
kp_right_prev)
return kp_right_prev, des_right_prev
def read_img(path):
img=cv2.imread(path)
img=cv2.resize(img,(w,h), cv2.INTER_LINEAR)
HSV = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)#灰度图像
edges = cv2.Canny(gray,50,150)
#**********hough_channel*********
hough_channel = np.zeros(gray.shape, np.uint8)
lines = cv2.HoughLines(edges,1,np.pi/180,10) #
try:
for rho,theta in lines[0]:
a = np.cos(theta)
b = np.sin(theta)
x0 = a*rho
y0 = b*rho
x1 = int(x0 + 1000*(-b))
y1 = int(y0 + 1000*(a))
x2 = int(x0 - 1000*(-b))
y2 = int(y0 - 1000*(a))
cv2.line(hough_channel,(x1,y1),(x2,y2),(255),1)
except Exception as e:
print 'There is no lines to be detected!'
#********Sobel边缘检测************
sobelX = cv2.Sobel(gray,cv2.CV_64F,1,0)#x方向的梯度
sobelY = cv2.Sobel(gray,cv2.CV_64F,0,1)#y方向的梯度
sobelX = np.uint8(np.absolute(sobelX))#x方向梯度的绝对值
sobelY = np.uint8(np.absolute(sobelY))#y方向梯度的绝对值
#********fast角点提取*******
fast_channel = np.zeros(gray.shape, np.uint8)
fast=cv2.FastFeatureDetector_create(threshold=2,nonmaxSuppression=True,type=cv2.FAST_FEATURE_DETECTOR_TYPE_9_16)#获取FAST角点探测器
kp=fast.detect(img,None)#描述符
fast_channel = cv2.drawKeypoints(gray,kp,fast_channel,color=(255))#
fast_channel = cv2.cvtColor(fast_channel,cv2.COLOR_BGR2GRAY)
#***********H，s两个通道*******
HSV = cv2.cvtColor(img, cv2.COLOR_BGR2HSV)
H, S, V = cv2.split(HSV)
#*******hsv过滤***********
Lower = np.array([0, 0, 0])
Upper = np.array([255,33, 255])
mask = cv2.inRange(HSV, Lower, Upper)
hsv_channel = cv2.bitwise_and(img, img, mask=mask)
hsv_channel = cv2.cvtColor(hsv_channel,cv2.COLOR_BGR2GRAY)
mergedByNp = np.dstack([gray,H,sobelX,sobelY])
x=np.expand_dims(mergedByNp,axis=0)
# Converting RGB to BGR for VGG
print("the shape of x ")
#x = x[:,:,:,::-1]
print(x.shape)
return x, mergedByNp,img
def get_surf_des(filename):
f = cv2.imread(filename)
#hessian threshold 800, 64 not 128
surf = cv2.xfeatures2d.FREAK_create()
fast = cv2.FastFeatureDetector_create()
kp = fast.detect(f, None)
kp, des = surf.compute(f, kp, None)
print(des)
des = numpy.float32(des)
return kp, des
def sift6():
img = cv2.imread('rectangle.png', 0)
fast = cv2.FastFeatureDetector_create()
kp = fast.detect(img, None) # 描述符
img = cv2.drawKeypoints(img, kp, img, color=(255, 255, 0)) # 画到img上面
print("Threshold: ", fast.getThreshold()) # 输出阈值
print("nonmaxSuppression: ", fast.getNonmaxSuppression()) # 是否使用非极大值抑制
print("Total Keypoints with nonmaxSuppression: ", len(kp)) # 特征点个数
cv2.imshow('fast', img)
cv2.waitKey(0)
def detect_features(frame):
fast = cv2.FastFeatureDetector_create()
fast.setThreshold(20)
#Using 'fast' algorithm for feature detection
kp = fast.detect(frame, None)
# Converting from Keypoint structure to Point structure
pts = np.asarray([[[np.float32(p.pt[0]),
np.float32(p.pt[1])]] for p in kp])
return pts
def FastFindFeatures(img):
print('Starting Fast Detection')
time1 = time.time()
# setup FAST alg
fast = cv2.FastFeatureDetector_create()
# disable nonmaxSuppression
# fast.setNonmaxSuppression(0)
kp = fast.detect(img, None)
print('Fast Processing Time: %ss' % (time.time() - time1))
img2 = cv2.drawKeypoints(img, kp, None, color=(255, 0, 0))
cv2.imwrite('fastShapes.png', img2)
def gotobehavior(robot, loc, path=None, th=35, tracking=False):
ctrl = PIctrl()
#Set the reference point i.e object position
ctrl.ref_point = loc
#robot_pos, rangle = get_pose(robot)
i = 0
t0 = time.time()
runKLT = False
detector = cv2.FastFeatureDetector_create(threshold=25,
nonmaxSuppression=True)
while True:
i += 1
## Calc robot current pose
rangle = robot.pose.rotation.angle_z.radians
robot_pos = to_nppose(robot.pose.position.x_y_z, rangle)
ctrl.pos_update(robot_pos)
ctrl.robot = robot
## Update the refrence object for the controller
ctrl.ref_point = loc
## Run the PID controller
t1 = time.time()
dt = t1 - t0
val = ctrl.update(dt)
t0 = t1
## Get get while velocityies from linear and angular velocity
vr, vl = calc_wheel_velo(val)
## Send the velocity commands to the robot
robot.drive_wheels(vl, vr)
if path is not None:
img = add_obj_path(path, robot_pos)
cv2.imshow('path', img) #[:,:,::-1])
if tracking:
if runKLT == False:
old_image = robot.world.latest_image
old_image = np.array(old_image.raw_image.convert("L"))
p0 = detector.detect(old_image)
p0 = np.array([x.pt for x in p0], dtype=np.float32)
runKLT = True
if runKLT == True:
new_image = robot.world.latest_image
new_image = np.array(new_image.raw_image.convert("L"))
p0, p1, vel = featureTracking(old_image, new_image, p0)
if p0 is not None:
p0 = p1
old_image = new_image
print(i, 'KLT vel', vel)
else:
break
err = robot_pos - loc
print(i, err)
if np.linalg.norm(err[:2]) < th:
break
if cv2.waitKey(10) & 0xFF == ord('q'):
break
def fast_corner_detection(img):
# https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_feature2d/py_fast/py_fast.html
fast = cv2.FastFeatureDetector_create()
img = get_grayscaled_image(img)
# find and draw the keypoints
kp = fast.detect(img, None)
img2 = cv2.drawKeypoints(img, kp, color=(255, 0, 0), outImage=img)
return img2, [
tuple((int(keypoint.pt[0]), int(keypoint.pt[1]))) for keypoint in kp
]
def fd_Fast(_image):
imag = cv2.cvtColor(_image, cv2.COLOR_BGR2HSV)
gray = cv2.cvtColor(imag, cv2.COLOR_BGR2GRAY)
fast = cv2.FastFeatureDetector_create()
# find and draw the keypoints
kp = fast.detect(gray, None)
imag2 = cv2.drawKeypoints(gray, kp, None, color=(255, 0, 0))
cv2.normalize(imag2, imag2)
return imag2.flatten()
def __init__(self, config):
self.config = config
# Indicate if this is the first image message.
self.is_first_img = True
# ID for the next new feature.
self.next_feature_id = 0
# Feature detector
self.detector = cv2.FastFeatureDetector_create(self.config.fast_threshold)
# IMU message buffer.
self.imu_msg_buffer = []
# Previous and current images
self.cam0_prev_img_msg = None
self.cam0_curr_img_msg = None
self.cam1_curr_img_msg = None
# Pyramids for previous and current image
self.prev_cam0_pyramid = None
self.curr_cam0_pyramid = None
self.curr_cam1_pyramid = None
# Features in the previous and current image.
# list of lists of FeatureMetaData
self.prev_features = [[] for _ in range(self.config.grid_num)] # Don't use [[]] * N
self.curr_features = [[] for _ in range(self.config.grid_num)]
# Number of features after each outlier removal step.
# keys: before_tracking, after_tracking, after_matching, after_ransac
self.num_features = defaultdict(int)
# load config
# Camera calibration parameters
self.cam0_resolution = config.cam0_resolution # vec2
self.cam0_intrinsics = config.cam0_intrinsics # vec4
self.cam0_distortion_model = config.cam0_distortion_model # string
self.cam0_distortion_coeffs = config.cam0_distortion_coeffs # vec4
self.cam1_resolution = config.cam1_resolution # vec2
self.cam1_intrinsics = config.cam1_intrinsics # vec4
self.cam1_distortion_model = config.cam1_distortion_model # string
self.cam1_distortion_coeffs = config.cam1_distortion_coeffs # vec4
# Take a vector from cam0 frame to the IMU frame.
self.T_cam0_imu = np.linalg.inv(config.T_imu_cam0)
self.R_cam0_imu = self.T_cam0_imu[:3, :3]
self.t_cam0_imu = self.T_cam0_imu[:3, 3]
# Take a vector from cam1 frame to the IMU frame.
self.T_cam1_imu = np.linalg.inv(config.T_imu_cam1)
self.R_cam1_imu = self.T_cam1_imu[:3, :3]
self.t_cam1_imu = self.T_cam1_imu[:3, 3]
def feature_detection(featureType, im):
if featureType=="SURF":
minHessian = 100
detector = cv2.xfeatures2d.SURF_create(hessianThreshold=minHessian)
return detector.detect(im)
elif featureType=="FAST":
# Initiate FAST object with default values
fast = cv2.FastFeatureDetector_create()
return fast.detect(im,None)
def daisy_descriptors(image, mask):
gray_img = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)
gray_img = cv2.resize(gray_img, (256, 256), interpolation=cv2.INTER_AREA)
if mask is not None:
mask = cv2.resize(mask, (256, 256), interpolation=cv2.INTER_AREA)
mask = (mask != 0).astype(np.uint8) * 255
detector = cv2.FastFeatureDetector_create()
keypoints = detector.detect(gray_img, mask)
return cv2.xfeatures2d.DAISY_create().compute(gray_img, keypoints)[1]
def fast_feature_detection(img):
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
fast = cv2.FastFeatureDetector_create(15)
kp = fast.detect(img, None)
img = cv2.drawKeypoints(gray,
kp,
None,
flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
#flags is optional, try without and see what happens
#img=cv2.drawKeypoints(gray,kp, None,flags=cv2.DRAW_MATCHES_FLAGS_DRAW_RICH_KEYPOINTS)
return img
def savekeyPointsOnImage(image,imname ,thr,w,h): fast = cv2.FastFeatureDetector_create(thr) kp = fast.detect(image,None) img = cv2.cvtColor(image,cv2.COLOR_GRAY2RGB) for k in kp: x,y=k.pt cv2.circle(img, (int(x),int(y)), 2, (50,50,50), thickness=1, lineType=8, shift=0) cv2.line(img, (int(x)-2,int(y)), (int(x)+2,int(y)),(0,252,248),1) cv2.line(img, (int(x),int(y)+2), (int(x),int(y)-2),(0,252,248),1) imwrite(imname,img) return;
def run():
img = cv2.imread("../../dataset/Hands/Hand_0000083.jpg", 0)
fast = cv2.FastFeatureDetector_create()
# for finding and drawing keypoints
kp = fast.detect(img, None)
img2 = cv2.drawKeypoints(img, kp, img, color=(255, 0, 0))
cv2.imwrite('out/fast_nms_t100000.jpg', img2)
print("Total keypoints with nonmaxSuppression: ", len(kp))
def fast(img):
"""
Uses the FAST algorithm to track objects
:param img: Image to track objects
:return: image with points drawn, Key points
"""
fast_t = cv2.FastFeatureDetector_create()
points = fast_t.detect(img, None)
kimg = cv2.drawKeypoints(img, points, None, color=(0, 255, 0))
return kimg, points
def __init__(
self,
file_path,
focal_length=718.8560,
pp=(607.1928, 185.2157),
lk_params=dict(winSize=(21, 21),
criteria=(cv2.TERM_CRITERIA_EPS
| cv2.TERM_CRITERIA_COUNT, 30, 0.01)),
detector=cv2.FastFeatureDetector_create(threshold=25,
nonmaxSuppression=True),
camera_extrinsic_rotation=np.identity(3)):
"""
Arguments:
file_path {str} -- File path that leads to image sequences or video file
Keyword Arguments:
focal_length {float} -- Focal length of camera used in image sequence (default: {718.8560})
pp {tuple} -- Principal point of camera in image sequence (default: {(607.1928, 185.2157)})
lk_params {dict} -- Parameters for Lucas Kanade optical flow (default: {dict(winSize = (21,21), criteria = (cv2.TERM_CRITERIA_EPS | cv2.TERM_CRITERIA_COUNT, 30, 0.01))})
detector {cv2.FeatureDetector} -- Most types of OpenCV feature detectors (default: {cv2.FastFeatureDetector_create(threshold=25, nonmaxSuppression=True)})
Raises:
ValueError -- Raised when file either file paths are not correct, or img_file_path is not configured correctly
"""
self.file_path = file_path
self.detector = detector
self.lk_params = lk_params
self.focal = focal_length
self.extrinsic_rotation = camera_extrinsic_rotation
self.pp = pp
self.R = np.identity(3)
self.t = np.zeros(3)
self.id = 0
self.n_features = 0
self.old_frame = None
self.current_frame = None
self.good_old = None
self.good_new = None
self.p0 = None
self.p1 = None
self.essential_matrix_point_mask = None
self.frame_paths = glob.glob(os.path.join(file_path, "*.png"))
self.frame_paths.sort()
self.n_frames = len(self.frame_paths)
self.vid_cap = None
if self.n_frames == 0: # may be a video file
self.vid_cap = cv2.VideoCapture(file_path)
self.n_frames = self.vid_cap.get(cv2.CAP_PROP_FRAME_COUNT)
self.process_frame()
def fast(image,outline=False,nor_max_supperesion=True,verbose=False,**kwargs):
if outline:
image=longest_edge(image, verbose=verbose, **kwargs)
fast = cv2.FastFeatureDetector_create()
if nor_max_supperesion is not True:
kp = fast.detect(img,None)
else:
fast.setNonmaxSuppression(0)
kp = fast.detect(img,None)
img2 = cv2.drawKeypoints(img, kp, None, color=(127,0,0))
if verbose:
display(img2,'FAST Corners')
def __init__(self):
self.has_seen_first_frame = False
# Initiate STAR detector
self.orb = cv2.ORB_create()
# Initiate FAST object with default values
self.fast = cv2.FastFeatureDetector_create(nonmaxSuppression=True,
threshold=100)
# create BFMatcher object
self.bf = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=True)
def fast_corners(self, image):
fast = cv2.FastFeatureDetector_create()
# Applying Gaussian Blurring
blur = cv2.GaussianBlur(image, (5, 5), 0)
# Detect keypoints with non max suppression
keypoints = fast.detect(blur, None)
# Disable nonmaxSuppression
# fast.setNonmaxSuppression(False)
# Detect keypoints without non max suppression
# keypoints_without_nonmax = fast.detect(gray, None)
return keypoints
def __init__(self, image_size, keypoint_image_border_size,
max_keypoint_count, ldescriptor_length,
use_scale_orientation):
super(VGG, self).__init__(
image_size=image_size,
keypoint_image_border_size=keypoint_image_border_size,
max_keypoint_count=max_keypoint_count,
ldescriptor_length=ldescriptor_length)
self.feature_detector = cv2.FastFeatureDetector_create()
self.descriptor_extractor = cv2.xfeatures2d.VGG_create(
use_scale_orientation=use_scale_orientation)
def __init__(self, cam):
self.cam = cam
self.last_frame = None
self.new_frame = None
self.frame_stage = 0
self.detector = cv2.FastFeatureDetector_create(2, True)
self.points = None
self.prev_points = None
self.cur_R = None
self.cur_t = None
self.optical_flow = None
self.delta = None
def OnFAST():
img = cv2.imread(sys.argv[1], 1)
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)
sift = cv2.FastFeatureDetector_create()
kp = sift.detect(gray,None)
xs = np.array([p.pt[0] for p in kp])
ys = np.array([p.pt[1] for p in kp])
c = ImgCanvas(img)
c.Point(xs, ys, color = RandColors(ncolor = len(xs)), size = 9, linewidth = 3)
c.Show()
def fast(img):
# Initiate FAST object with default values
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
fast = cv2.FastFeatureDetector_create()
# find and draw the keypoints)
kp = fast.detect(img,None)
# get all the kp coordinates
pts = [kp[idx].pt for idx in range(len(kp))]
print pts
sys.exit(1)
return cv2.drawKeypoints(gray, kp, img, color=(255,0,0))
def get_corners_Shi_Tomasi(image1):
if len(image1.shape) == 2:
im1_gray = image1.copy()
else:
im1_gray = cv2.cvtColor(image1, cv2.COLOR_BGR2GRAY)
detector = cv2.FastFeatureDetector_create()
corners = cv2.goodFeaturesToTrack(im1_gray, 25, 0.01, 10)
corners = corners.reshape(corners.shape[0], corners.shape[2]).astype(int)
return corners
