def detectKp(self, img, mask):
if self.equalnum == True:
# Initiate FAST object with default values
fast = cv2.FastFeatureDetector(threshold=15)
best_kp = fast.detect(img, mask)
print len(best_kp)
if len(best_kp) >= self.numpatch:
best_kp = random.sample(best_kp, self.numpatch)
else:
fast = cv2.FastFeatureDetector(threshold=self.threshold)
best_kp = fast.detect(img, mask)
#remove keypoints from the border of the image to be able to use the binary descriptors
#border = 40 #size of the border
#height, width = img.shape[:2]
#best_kp_no_border = []
#for i in range(0,n):
#kp = best_kp[i]
#if kp.pt[0] < border or kp.pt[0] > (width - border) or kp.pt[1] < border or kp.pt[1] > (height - border):
#True
#else:
#best_kp_no_border.append(kp)
# draw the keypoints
#img3 = cv2.drawKeypoints(img,best_kp_no_border, color=(255,0,0))
#cv2.imshow('image2',img3)
#cv2.waitKey(0)
#cv2.destroyAllWindows()
return best_kp
def __init__(self):
# FLANN parameters
FLANN_INDEX_KDTREE = 0
index_params = dict(algorithm=FLANN_INDEX_KDTREE, trees=5)
search_params = dict(checks=50)
self.flann = cv2.FlannBasedMatcher(index_params, search_params)
self.detector = cv2.FastFeatureDetector() #.SIFT()
def fastFeatureTest():
img = cv2.imread('Robot.jpg', 0)
# Initiate FAST object with default values
fast = cv2.FastFeatureDetector()
# find and draw the keypoints
kp = fast.detect(img, None)
img2 = cv2.drawKeypoints(img, kp, color=(255, 0, 0))
# Print all default params
print "Threshold: ", fast.getInt('threshold')
print "nonmaxSuppression: ", fast.getBool('nonmaxSuppression')
print "neighborhood: ", fast.getInt('type')
print "Total Keypoints with nonmaxSuppression: ", len(kp)
cv2.imwrite('fast_true.png', img2)
# Disable nonmaxSuppression
fast.setBool('nonmaxSuppression', 0)
kp = fast.detect(img, None)
print "Total Keypoints without nonmaxSuppression: ", len(kp)
img3 = cv2.drawKeypoints(img, kp, color=(255, 0, 0))
cv2.imwrite('fast_false.png', img3)
def fast_feature_detect(gray_img):
fast = cv2.FastFeatureDetector()
f_features = list(
sorted(fast.detect(gray_img, None),
key=lambda l: -l.response))[:MAX_TRACK_POINTS]
return np.array([[f.pt] for f in f_features], np.float32)
def fastCornerDetector(self):
currFilter = 'FASTCornerDetection'
print("Applying Filter : ", currFilter)
self.processedImage = self.originalImage.copy()
self.lastFilter = 'FASTCornerDetection'
self.initializeSlider(s=0, e=50)
self.processedImage = self.originalImage.copy()
gray = self.processedImage
img = self.processedImage
if len(self.processedImage.shape) > 2:
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# Initiate FAST object with default values
fast = cv2.FastFeatureDetector()
# find and draw the keypoints
kp = fast.detect(gray, None)
img2 = cv2.drawKeypoints(img, kp, color=(255, 0, 0))
# Print all default params
print("Threshold: ", fast.getInt('threshold'))
print("nonmaxSuppression: ", fast.getBool('nonmaxSuppression'))
print("neighborhood: ", fast.getInt('type'))
print("Total Keypoints with nonmaxSuppression: ", len(kp))
self.processedImage = img2.copy()
self.displayImage()
def main():
parser = argparse.ArgumentParser()
parser.add_argument('--image_path', type=str, default="../Images/test.png")
parser.add_argument('--num_ret_points', type=int, default=10)
parser.add_argument('--tolerance', type=float, default=0.1)
args = parser.parse_args()
img = cv2.imread(args.image_path)
cv2.imshow('Input Image', img)
cv2.waitKey(0)
fast = cv2.FastFeatureDetector()
keypoints = fast.detect(img, None)
img2 = cv2.drawKeypoints(img, keypoints, color=(255, 0, 0))
cv2.imshow('Detected FAST keypoints', img2)
cv2.waitKey(0)
# keypoints should be sorted by strength in descending order before feeding to SSC to work correctly
shuffle(keypoints) # simulating sorting by score with random shuffle
selected_keypoints = ssc(keypoints, args.num_ret_points, args.tolerance,
img.shape[1], img.shape[0])
img3 = cv2.drawKeypoints(img, selected_keypoints, color=(255, 0, 0))
cv2.imshow('Selected keypoints', img3)
cv2.waitKey(0)
def fast(filename):
img = cv2.imread(filename, 0)
# Initiate FAST object with default values
fast = cv2.FastFeatureDetector()
# find and draw the keypoints
kp = fast.detect(img, None)
img2 = cv2.drawKeypoints(img, kp, color=(255, 0, 0))
# Print all default params
print("Threshold: ", fast.getInt('threshold'))
print("nonmaxSuppression: ", fast.getBool('nonmaxSuppression'))
print("neighborhood: ", fast.getInt('type'))
print("Total Keypoints with nonmaxSuppression: ", len(kp))
cv2.imshow('fast_true', img2)
if cv2.waitKey(0) & 0xff == 27:
cv2.destroyAllWindows()
# Disable nonmaxSuppression
fast.setBool('nonmaxSuppression', 0)
kp = fast.detect(img, None)
print("Total Keypoints without nonmaxSuppression: ", len(kp))
img3 = cv2.drawKeypoints(img, kp, color=(255, 0, 0))
cv2.imshow('fast_false', img3)
if cv2.waitKey(0) & 0xff == 27:
cv2.destroyAllWindows()
def fast0(img):
fast = cv2.FastFeatureDetector()
kp = fast.detect(img, None)
img2 = cv2.drawKeypoints(img, kp, color=(255, 0, 0))
cv2.imshow("Sift", img2)
cv2.waitKey(0)
cv2.destroyAllWindows()
def run_FAST_v4(dp_color, perspective, segmentation_set):
"""
with max suppression is better than without max suppression
v4 : if keypoint is inside of given segment, accept it.
iterates for kp ( for contour)
:param img:
:return:
"""
# Initiate FAST object with default values
fast = cv2.FastFeatureDetector(threshold=60, nonmaxSuppression=True)
# find and draw the keypoints
kp_set = fast.detect(dp_color, None)
score = [0 for x in range(len(segmentation_set))]
counts = [0 for x in range(len(segmentation_set))]
for kp in kp_set:
x = int(kp.pt[0])
y = int(kp.pt[1])
checked = False
for i in range(len(segmentation_set)):
# find the nearest contour from selected keypoint.
s = segmentation_set[i] # x1 x2 y1 y2
if (s[0] < x < s[1]) and (s[2] < y < s[3]):
score[i] += np.sqrt(perspective[x])
counts[i] += 1
return np.array(score)
def featureDetectDesCorner(roiImageFiltered):
fast = cv2.FastFeatureDetector()
kp = fast.detect(roiImageFiltered, None)
roiKeyPointImage = cv2.drawKeypoints(roiImageFiltered,
kp,
color=(255, 0, 0))
return kp, roiKeyPointImage
def old_test():
img1a_path = '/Users/ifahad7/Dropbox/School/FYDP/hackberry/test_images/images/img_1_a.jpg'
img1b_path = '/Users/ifahad7/Dropbox/School/FYDP/hackberry/test_images/images/img_1_b.jpg'
img1c_path = '/Users/ifahad7/Dropbox/School/FYDP/hackberry/test_images/images/img_1_c.jpg'
img1d_path = '/Users/ifahad7/Dropbox/School/FYDP/hackberry/test_images/images/img_1_d.jpg'
img2a_path = '/Users/ifahad7/Dropbox/School/FYDP/hackberry/test_images/images/img_2_a.jpg'
img2b_path = '/Users/ifahad7/Dropbox/School/FYDP/hackberry/test_images/images/img_2_b.jpg'
img2c_path = '/Users/ifahad7/Dropbox/School/FYDP/hackberry/test_images/images/img_2_c.jpg'
img1a = cv2.imread(img1a_path) # queryImage
img1b = cv2.imread(img1b_path) # trainImage
img1c = cv2.imread(img1c_path) # trainImage
img1d = cv2.imread(img1d_path) # trainImage
img2a = cv2.imread(img2a_path) # queryImage
img2b = cv2.imread(img2b_path) # trainImage
img2c = cv2.imread(img2c_path) # trainImage
hcv = hackberry_cv.ComputerVision()
kp_alg = cv2.FastFeatureDetector()
#kp_alg = cv2.SURF()
des_alg = cv2.SURF()
out = hcv.stitch(img2a, img2b, kp_alg, des_alg)
out = hcv.stitch(out, img2c, kp_alg, des_alg)
cv2.imwrite('out_1.jpg', out)
out = hcv.stitch(img1a, img1b, kp_alg, des_alg)
out = hcv.stitch(out, img1c, kp_alg, des_alg)
out = hcv.stitch(out, img1d, kp_alg, des_alg)
cv2.imwrite('out_2.jpg', out)
def build_cluster(image, featureValue, K):
img = cv2.imread(image)
fast = cv2.FastFeatureDetector(featureValue)
orb = cv2.ORB(180)
kp = fast.detect(img,None)
kp, des = orb.compute(img, kp)
# build keypoints location array for cluster
locations = np.empty((len(kp),2))
for i in range(len(kp)):
loc = array((int(kp[i].pt[0]), int(kp[i].pt[1])))
locations[i]=loc
kcenters, distortion = kmeans(locations, K)
kcenters = kcenters[kcenters[:,0].argsort()]
# cluster index: 0: left eye, 1 mouth and nose, 2: right eye
kpCluster = {i: [] for i in range(K)}
clusterLoc = {i: [] for i in range(K)}
for i in range(len(kp)):
set = 0
minDis = sys.maxint
for j in range(K):
dis = euclidean(locations[i], kcenters[j])
if dis<minDis:
set = j
minDis = dis
kpCluster[set].append(kp[i])
clusterLoc[set].append(locations[i])
imageFeature = [len(kp)]
for i in range(K):
clusterFeature = cluster_feature(clusterLoc[i], kcenters[i])
imageFeature = imageFeature + clusterFeature
return imageFeature
def check
# 物体纹理辨别
img2 = cv2.imread('phone_pic/matchIphone.png')
img = cv2.imread("phone_pic/iphone5bai.png")
fast = cv2.FastFeatureDetector()
kp = fast.detect(img, None)
# cv2.drawKeypoints(img, kp, color=(255, 0, 0))
# x = cv2.Sobel(img,cv2.CV_16SC1,1,0)
# y = cv2.Sobel(img,cv2.CV_16S,0,1)
# absX = cv2.convertScaleAbs(x)
# absY = cv2.convertScaleAbs(y)
# cv2.imshow("absX", absX)
# cv2.imshow("absY", absY)
# dst = cv2.addWeighted(absX,0.2,absY,0.2,0)
# print img.shape
#regRect = []
#im = img[0:100, 100:200]
cv2.imshow("histImgB", img2)
cv2.waitKey(0)
def detect(self, img, detector, method=PREDEFINED):
# set det_ver == initialized det_ver
det_ver = self.det_ver
# update det_ver with trackbar
FeatureMapper.set_det_ver(self, detector)
# convert image to greyscale
grey = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# check if input method has different value from PREDEFINED (default)
if self.det_ver != self.PREDEFINED:
# Harris corner detector
if self.det_ver == 0:
mod_grey = np.float32(
grey) # not sure if necessary to convert type to float32
key_points = cv2.cornerHarris(
mod_grey, 2, 3, 0.04) # detect corners, given params
# FAST corner detector
elif self.det_ver == 1:
fast = cv2.FastFeatureDetector(
) # create FAST object (default params)
key_points = fast.detect(grey, None) # detect key points
# ORB corner detector
elif self.det_ver == 2:
orb = cv2.ORB_create() # create ORB object (default params)
key_points = orb.detect(grey, None) # detect key points
else:
# SIFT corner detector
sift = cv2.SIFT.create() # create SIFT object
key_points = sift.detect(grey, None) # detect key points
return key_points
def fast(img_url):
resp = urllib.urlopen(img_url)
image = np.asarray(bytearray(resp.read()), dtype="uint8")
img = cv.imdecode(image, cv.IMREAD_COLOR)
# Initiate FAST object with default values
fast = cv.FastFeatureDetector()
# find and draw the keypoints
kp = fast.detect(img,None)
img2 = cv.drawKeypoints(img, kp, color=(255,0,0))
# Print all default params
print("Threshold: ", fast.getInt('threshold'))
print("nonmaxSuppression: ", fast.getBool('nonmaxSuppression'))
print("neighborhood: ", fast.getInt('type'))
print("Total Keypoints with nonmaxSuppression: ", len(kp))
# cv.imwrite('./images/fast_true.png',img2)
# Disable nonmaxSuppression
fast.setBool('nonmaxSuppression',0)
kp = fast.detect(img,None)
print("Total Keypoints without nonmaxSuppression: ", len(kp))
img3 = cv.drawKeypoints(img, kp, color=(255,0,0))
# cv.imwrite('./images/fast_false.png',img3)
return img3
# fast(url)
# cv.waitKey(0)
# cv.destroyAllWindows()
def fastFeature_kp(image, featureValue):
img = cv2.imread(image)
fast = cv2.FastFeatureDetector(featureValue)
orb = cv2.ORB(180)
kp = fast.detect(img, None)
kp, des = orb.compute(img, kp)
return kp, des
def __init__(self, config):
# Get all the settings from the config file
self.video_folder = config.get('default', 'video_folder')
self.video_files = json.loads(config.get('default', 'video_files'))
self.visualize = json.loads(config.get('default', 'visualize'))
self.number_of_objects = json.loads(
config.get('default', 'number_of_objects'))
self.inertia_threshold = json.loads(
config.get('default', 'inertia_threshold'))
self.arena_settings = json.loads(
config.get('default', 'arena_settings'))
self.led_settings = json.loads(config.get('default', 'led_settings'))
self.lk_settings = json.loads(config.get('default', 'lk_settings'))
self.detector = json.loads(config.get('default', 'detector'))
self.ShiTom_settings = json.loads(
config.get('default', 'ShiTom_settings'))
self.FAST_settings = json.loads(config.get('default', 'FAST_settings'))
self.arena_settings["points"] = np.array(self.arena_settings["points"])
self.led_settings["center_1"] = tuple(self.led_settings["center_1"])
self.led_settings["center_2"] = tuple(self.led_settings["center_2"])
self.lk_settings["winSize"] = tuple(self.lk_settings["winSize"])
self.lk_settings["criteria"] = (long(3),
self.lk_settings["criteria_count"],
self.lk_settings["criteria_eps"])
del self.lk_settings["criteria_eps"], self.lk_settings[
"criteria_count"]
try:
self.mmse_lookback = json.loads(
config.get('default', 'MMSE_lookback'))
except:
self.mmse_lookback = 6
self.permutations = np.array(
list(permutations(range(self.number_of_objects))))
self.color_pallet = plt.get_cmap('jet')(np.linspace(
0, 1.0, self.number_of_objects)) * 255
self.track_len = 10 # must be higher than 5
self.tracks = []
self.visual_image = None
self.frame_idx = 1
self.start_time = 0.
self.previous_centers = None
self.ordered_centers = None
self.new_labels = None
self.led_status = [0, 0]
self.led_values = [0, 0]
self.arena_mask = None
self.fast = cv2.FastFeatureDetector(**self.FAST_settings)
def feature_detection(img1, points1):
fast = cv2.FastFeatureDetector(20) #sets the threshold
fast.setBool('nonmaxSuppression',1) #makes non-maxsupresison true
kp = fast.detect(img1,None)
cd_x=np.array([k.pt[0] for k in kp])
cd_y=np.array([k.pt[1] for k in kp])
for i in range(len(cd_x)):
points1.append([[cd_x[i],cd_y[i]]])
def featureDetectCorner(roiImageFiltered):
fast = cv2.FastFeatureDetector()
kp = fast.detect(roiImageFiltered, None)
if (np.size(kp) > 0):
roiKeyPointImage = roiImageFiltered #cv2.drawKeypoints(roiImageFiltered, kp, color=(255, 0, 0))
return kp, roiKeyPointImage
else:
return kp, roiImageFiltered
def __init__(self, cornerSize, winSize):
self.FAST = cv2.FastFeatureDetector()
self.cornerSize = cornerSize
self.winSize = winSize
self.criteria = (cv2.TERM_CRITERIA_EPS + cv2.TERM_CRITERIA_MAX_ITER,
30, 0.001)
corner_x = []
corner_p = []
def findHomography(im0, im1):
fd = cv2.FastFeatureDetector(10)
fs = fd.detect(im0)
fs = np.float32([x.pt for x in fs])
nfs, s, te = cv2.calcOpticalFlowPyrLK(im0, im1, fs, None, (121, 121))
#fs = fs[reshape(s > 0, s.size)]
#nfs = nfs[reshape(s > 0, s.size)]
return cv2.findHomography(fs, nfs, cv2.RANSAC)
def processImage(imagePath):
orignalImage = cv2.imread(imagePath, cv2.CV_LOAD_IMAGE_COLOR)
grayImage = cv2.cvtColor(orignalImage, cv2.COLOR_BGR2GRAY)
blurredImage = cv2.GaussianBlur(grayImage, (3, 3), 0)
edgedCorrectedImage = auto_canny(blurredImage)
# ret,thresh = cv2.threshold(blurredImage,8,255,cv2.THRESH_BINARY)
# thresh=cv2.inRange(grayImage,190,255);
# contours, hierarchy = cv2.findContours(thresh,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
# croppedImage = removeWhiteSpace(edgedCorrectedImage, thresh, contours, hierarchy)
# removeText(edgedCorrectedImage)
ret,thresh = cv2.threshold(grayImage,127,255,cv2.THRESH_BINARY_INV)
# contours, hierarchy = cv2.findContours(thresh,cv2.RETR_TREE,cv2.CHAIN_APPROX_SIMPLE)
# cv2.drawContours(image, contours, -1, (0,255,0), 1)
# print croppedImage
newFile = open('data','w')
fast = cv2.FastFeatureDetector(120)
kp = fast.detect(grayImage,None)
counter = 0
i = 0
kpArray = []
for keyPoints in kp:
kpArray.append(keyPoints.pt)
kpArray = sorted(kpArray,key=itemgetter(0))
prunedKpArray = pruningArray(kpArray)
for ele in prunedKpArray:
newFile.write('a'+str(i)+'=model.floorplan.newCorner('+str(ele[0])+','+str(ele[1])+');\n')
counter+=1
i+=1
if counter%2 is 0 :
i = 0
newFile.write('model.floorplan.newWall(a0,a1);\n')
# for keyPoints in kpArray:
# newFile.write('a'+str(i)+'=model.floorplan.newCorner'+str(keyPoints.pt)+';\n')
# counter+=1
# i+=1
# if counter%2 is 0 :
# i = 0
# newFile.write('model.floorplan.newWall(a0,a1);\n')
newFile.close()
def fastFeatureDetector(self, img):
# Initiate FAST object with default values
fast = cv2.FastFeatureDetector()
# find and draw the keypoints
kp = fast.detect(img, None)
img2 = cv2.drawKeypoints(img, kp, color=(255, 0, 0))
return img2
def test_fast(self):
fd = cv2.FastFeatureDetector(30, True)
img = self.get_sample("samples/cpp/right02.jpg", 0)
img = cv2.medianBlur(img, 3)
imgc = cv2.cvtColor(img, cv2.COLOR_GRAY2BGR)
keypoints = fd.detect(img)
self.assert_(600 <= len(keypoints) <= 700)
for kpt in keypoints:
self.assertNotEqual(kpt.response, 0)
def test_fast():
img_path = glob.glob("dataset/bear/*.JPEG")[0]
img = cv2.imread(img_path)
gray_img = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
fast = cv2.FastFeatureDetector(50)
keypoints = fast.detect(img, None)
img = cv2.drawKeypoints(img, keypoints, color=(255, 0, 0))
cv2.imshow("image", img)
cv2.waitKey(0)
print("keypoints len = {0}".format(len(keypoints)))
def __motion_estimation_feature(self, ref_frame, new_frame, min_matches=7):
# Create an ORB detector
detector = cv.FastFeatureDetector(16, True)
# extractor = cv.DescriptorExtractor_create('SIFT')
extractor = cv.DescriptorExtractor_create('ORB')
# extractor = cv.DescriptorExtractor_create('FREAK')
# find the keypoints and descriptors
kp1 = detector.detect(new_frame)
k1, des1 = extractor.compute(new_frame, kp1)
kp2 = detector.detect(ref_frame)
k2, des2 = extractor.compute(ref_frame, kp2)
# Match using bruteforce
matcher = cv.DescriptorMatcher_create('BruteForce-Hamming')
matches = matcher.match(des1, des2)
matcher.knnMatch(
des1,
des2,
)
# keep only the reasonable matches
dist = [m.distance for m in matches]
thres_dist = (sum(dist) / len(dist)) * 0.3
good_matches = [m for m in matches if m.distance < thres_dist]
# compute the transformation from the brute force matches
if len(good_matches) > min_matches:
print "Enough matchs for compensation - %d/%d" % (
len(good_matches), min_matches)
self.corners = np.float32(
[k1[m.queryIdx].pt for m in good_matches]).reshape(-1, 1, 2)
self.corners_next = np.float32(
[k2[m.trainIdx].pt for m in good_matches]).reshape(-1, 1, 2)
transform, mask = cv.findHomography(self.corners,
self.corners_next, cv.RANSAC,
3.0)
# Check that the transform indeed explains the corners shifts ?
mask_match = [m for m in mask if m == 1]
if len(mask_match) < min_matches:
print "Tracking lost - %d final matches" % len(mask_match)
return None, False
print("Transformation deemed valid")
return transform, True
else:
print "Not enough matches are found - %d/%d" % (len(good_matches),
min_matches)
return None, False
def create_cluster_image(image, featureValue, K):
img = cv2.imread(image)
fast = cv2.FastFeatureDetector(featureValue)
orb = cv2.ORB(180)
kp = fast.detect(img, None)
kp, des = orb.compute(img, kp)
print len(kp)
# build keypoints location array for cluster
locations = np.empty((len(kp), 2))
for i in range(len(kp)):
loc = array((int(kp[i].pt[0]), int(kp[i].pt[1])))
locations[i] = loc
size = len(des) / K
#centers = array((locations[size], locations[2*size], locations[3*size], locations[4*size], locations[5*size], locations[6*size-1]))
#centers = array((locations[0], locations[2*size], locations[3*size], locations[4*size-1]))
Ncenters = array(
(locations[0], locations[2 * size], locations[3 * size - 1]))
kcenters, distortion = kmeans(locations, K)
kcenters = kcenters[kcenters[:, 0].argsort()]
kpCluster = {i: [] for i in range(K)}
for i in range(len(kp)):
set = 0
minDis = sys.maxint
for j in range(K):
dis = euclidean(locations[i], kcenters[j])
if dis < minDis:
set = j
minDis = dis
kpCluster[set].append(kp[i])
pic = img
for i in range(K):
pic = cv2.drawKeypoints(pic, kpCluster[i], color=colors[i], flags=0)
leftIndex = findNeaghborPoint(locations, kcenters[0])
leftEye = [kp[leftIndex]]
pic = cv2.drawKeypoints(pic, leftEye, color=colors[5], flags=0)
rightIndex = findNeaghborPoint(locations, kcenters[2])
rightEye = [kp[rightIndex]]
pic = cv2.drawKeypoints(pic, rightEye, color=colors[5], flags=0)
MIndex = findNeaghborPoint(locations, kcenters[1])
mouse = [kp[MIndex]]
pic = cv2.drawKeypoints(pic, mouse, color=colors[5], flags=0)
imageName = image
cv2.imshow(imageName, pic)
cv2.waitKey(0)
cv2.destroyAllWindows()
newoutput = line.replace("resize", "output")
cv2.imwrite(newoutput, pic)
def __init__(self):
self.image_pub = rospy.Publisher("image_topic_2", Image, queue_size=1)
self.bridge = CvBridge()
self.image_sub = rospy.Subscriber('/io/internal_camera/head_camera/image_raw',Image,self.homography_callback)
self.marker_sub = rospy.Subscriber('/io/internal_camera/head_camera/image_raw',Image,self.marker_callback)
self.fast = cv2.FastFeatureDetector()
self.fast.setBool('nonmaxSuppression',1)
self.fast.setInt('threshold', 10)
self.H = 0
self.pub = rospy.Publisher('bounding_points', Float64MultiArray, queue_size=10)
def featureDetectCorner(roiImageFiltered):
roiImageFiltered_unit8 = unit8Image(roiImageFiltered)
fast = cv2.FastFeatureDetector()
try:
kp = fast.detect(roiImageFiltered_unit8, None)
roiKeyPointImage_unit8 = cv2.drawKeypoints(roiImageFiltered_unit8,
kp,
color=(255, 0, 0))
return kp, roiKeyPointImage_unit8
except TypeError:
print 'The input image in the function featureDetectCorner is not of data type unit8 or its not grayscale. Plese convert the image to unit8 using numpy.unit8.'
except IOError:
print 'The path to the file in featureDetectCorner is not correctly specified. Please check that the file is in the correct location.'
else:
print 'The function featureDetectCorner is not working. You have most likely given invalid arguments.'
def find_keypoints(img):
# Initiate FAST object with default values
fast = cv2.FastFeatureDetector()
# find and draw the keypoints
kp = fast.detect(img,None)
img2 = cv2.drawKeypoints(img, kp, color=(255,0,0))
# print ( all default params
print ( "Threshold: ", fast.getInt('threshold'))
print ( "nonmaxSuppression: ", fast.getBool('nonmaxSuppression'))
#print ( "neighborhood: ", fast.getInt('type')
print ("Total Keypoints with nonmaxSuppression: ", len(kp))
cv2.imwrite('fast_true.png',img2)
