-
Notifications
You must be signed in to change notification settings - Fork 1
/
feature_matching.py
278 lines (251 loc) · 14.4 KB
/
feature_matching.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
import numpy as np
import cv2
def trackFeatures(next_img, data, config):
#perftime = time.perf_counter()
#base_points, f1 = data
sim_data = findInitialFeatures(next_img, config)
# FLANN parameters
#FLANN_INDEX_KDTREE = 1
#index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
#search_params = dict(checks=50) # or pass empty dictionary
#matcher = cv2.FlannBasedMatcher(index_params,search_params)
#matcher = cv2.DescriptorMatcher_create(cv2.DescriptorMatcher_FLANNBASED)
#matcher = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=True)
return matchFeatures(data, sim_data, config)
def debug_imgs_features(config, next_img, base_points, new_points, matches, matchesMask):
real_img = config["real_img"]
i = config["prefix"]
l=60
r=-40
t=25
b=-25
#print(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8).shape)
#img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
# np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=np.zeros_like(matchesMask), matchColor=(0,255,0), singlePointColor=(100,100,255))
#cv2.imwrite(i+"_featurepoints.png", img[t:b,l:r])
#m = np.zeros_like(matchesMask)
#m[:,0] = 1
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=matchesMask, matchColor=(0,255,0), singlePointColor=(100,100,255))
cv2.imwrite(i+"_knnmatch.png", img[t:b,l:r])
#import matplotlib.pyplot as plt
#f, (ax1, ax2) = plt.subplots(1,2, squeeze=True)
#ax1.imshow(img)
#f.savefig("knnmath.png")
#img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
# np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,
# matchesMask=matchesMask2, matchColor=(0,255,0), singlePointColor=(0,0,255))
#ax2.imshow(img)
#plt.show()
#plt.close()
def matchFeatures(real_data, sim_data, config=None, next_img=None):
base_points, f1 = real_data
new_points, f2 = sim_data
#matcher = cv2.DescriptorMatcher_create(cv2.DescriptorMatcher_BRUTEFORCE_HAMMING)
matcher = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=False)
#matcher = cv2.BFMatcher(cv2.NORM_HAMMING2, crossCheck=False)
#matcher = cv2.BFMatcher(cv2.NORM_L1, crossCheck=False)
#matcher = cv2.BFMatcher(cv2.NORM_L2, crossCheck=False)
if f1 is None:
print("no features in old image")
if f2 is None:
print("no features in new image")
return base_points, np.zeros(len(base_points), dtype=bool)
matches = matcher.knnMatch(f1, f2, k=2)
# Need to draw only good matches, so create a mask
matchesMask = np.zeros((len(matches), 2), dtype=int)
points = -np.ones(len(base_points), dtype=int)
valid = np.zeros(len(base_points), dtype=bool)
lowe_ratio = 0.8
if config is not None and "lowe_ratio" in config:
lowe_ratio = config["lowe_ratio"]
# ratio test as per Lowe's paper
dists = []
for i,ms in enumerate(matches):
if len(ms) > 1:
m,n = ms
dists.append(m.distance)
if m.distance < lowe_ratio*n.distance:
matchesMask[i,0]=1
valid[m.queryIdx] = True
points[m.queryIdx] = m.trainIdx
else:
valid[m.queryIdx] = False
else:
dists.append(-1)
valid[ms[0].queryIdx] = False
dists = np.array(dists)
#print(np.count_nonzero(valid))
matchesMask2 = np.array(matchesMask)
for i in range(len(base_points)):
if np.count_nonzero(points[valid]==i)>1:
valid[points==i] = False
points[points==i] = -1
for i2,(m,n) in enumerate(matches):
if m.trainIdx == i:
matchesMask2[i2,0] = 0
matchesMask3 = np.array(matchesMask2)
#print(np.count_nonzero(valid))
if len(dists[valid])>0:
ps = new_points[points]-base_points
m = np.mean(ps[valid], axis=0)
std = np.std(ps[valid], axis=0)
#print((ps-m)[valid], m, std)
out = np.bitwise_or(ps<m-1*std, ps>m+1*std)
out = np.bitwise_or(out[:,0], out[:,1])
matchesMask3[out, 0] = 0
#print(np.count_nonzero(out[valid]))
valid[out] = False
#print(np.count_nonzero(valid))
if False:
real_img = config["real_img"]
l=60
r=-40
t=25
b=-25
print(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8).shape)
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=np.zeros_like(matchesMask), matchColor=(0,255,0), singlePointColor=(100,100,255))
cv2.imwrite("featurepoints.png", img[t:b,l:r])
m = np.zeros_like(matchesMask)
m[:,0] = 1
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=m, matchColor=(0,255,0), singlePointColor=(100,100,255))
cv2.imwrite("knnmatch.png", img[t:b,l:r])
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=matchesMask, matchColor=(0,255,0), singlePointColor=(100,100,255))
cv2.imwrite("knnmatch_lowe.png", img[t:b,l:r])
#m[::4,0] = (np.ones_like(matchesMask)-matchesMask)[::4,0]
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=m-matchesMask, matchColor=(0,0,255), singlePointColor=(100,100,255))
cv2.imwrite("knnmatch_lowe_diff.png", img[t:b,l:r])
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=matchesMask2, matchColor=(0,255,0), singlePointColor=(100,100,255))
cv2.imwrite("knnmatch_lowe_out.png", img[t:b,l:r])
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=matchesMask-matchesMask2, matchColor=(0,0,255), singlePointColor=(100,100,255))
cv2.imwrite("knnmatch_lowe_out_diff.png", img[t:b,l:r])
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=matchesMask3, matchColor=(0,255,0), singlePointColor=(100,100,255))
cv2.imwrite("knnmatch_lowet_double.png", img[t:b,l:r])
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=matchesMask2-matchesMask3, matchColor=(0,0,255), singlePointColor=(100,100,255))
cv2.imwrite("knnmatch_lowe_double_diff.png", img[t:b,l:r])
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=matchesMask3, matchColor=(0,255,0), singlePointColor=(100,100,255))
cv2.imwrite("knnmatch_lowe_out_double.png", img[t:b,l:r])
img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,matchesMask=matchesMask-matchesMask3, matchColor=(0,0,255), singlePointColor=(100,100,255))
cv2.imwrite("knnmatch_lowe_out_double_diff.png", img[t:b,l:r])
print(np.count_nonzero(m), np.count_nonzero(matchesMask), np.count_nonzero(m-matchesMask))
print(np.count_nonzero(matchesMask), np.count_nonzero(matchesMask2), np.count_nonzero(matchesMask-matchesMask2))
print(np.count_nonzero(matchesMask2), np.count_nonzero(matchesMask3), np.count_nonzero(matchesMask2-matchesMask3))
print(np.count_nonzero(matchesMask), np.count_nonzero(matchesMask3), np.count_nonzero(matchesMask-matchesMask3))
#import matplotlib.pyplot as plt
#f, (ax1, ax2) = plt.subplots(1,2, squeeze=True)
#ax1.imshow(img)
#f.savefig("knnmath.png")
#img = cv2.drawMatchesKnn(np.array(255*(real_img-np.min(real_img))/(np.max(real_img)-np.min(real_img)),dtype=np.uint8),base_points,
# np.array(255*(next_img-np.min(next_img))/(np.max(next_img)-np.min(next_img)),dtype=np.uint8),new_points,matches,None,
# matchesMask=matchesMask2, matchColor=(0,255,0), singlePointColor=(0,0,255))
#ax2.imshow(img)
#plt.show()
#plt.close()
exit()
if config is not None and next_img is not None:
debug_imgs_features(config, next_img, base_points, new_points, matches, matchesMask3)
if np.count_nonzero(valid) > 100:
pass
#drop = np.arange(len(valid))[valid][100:]
#valid[drop] = False
#drop = np.random.choice(np.arange(len(valid))[valid], 100)
#valid = np.zeros_like(valid)
#valid[drop] = True
else:
pass
#print(np.count_nonzero(valid))
return new_points[points], valid
def findInitialFeatures(img, config):
#global detector, gpu_img, mask, gpu_mask
#perftime = time.perf_counter()
gpu_img = None
detector = None
mask = None
gpu_mask = None
if mask is None:
mask = np.zeros_like(img, dtype=np.uint8)
mask[20:-20,20:-20] = True
if config["use_cpu"]:
#detector = cv2.xfeatures2d_SURF.create(100, 4, 3, False, True)
#detector = cv2.SIFT_create(nfeatures = 0, nOctaveLayers = 3, contrastThreshold = 0.04, edgeThreshold = 10, sigma = 1.6, descriptorType = cv2.CV_8U)
detector = cv2.AKAZE_create(**config["AKAZE_params"])
#detector = cv2.xfeatures2d.StarDetector_create(maxSize=45,responseThreshold=10,lineThresholdProjected=10,lineThresholdBinarized=8,suppressNonmaxSize=5)
#brief = cv2.xfeatures2d.BriefDescriptorExtractor_create()
#detector = cv2.ORB_create(nfeatures=500, scaleFactor=1.2, nlevels=8, edgeThreshold=31, patchSize=21, fastThreshold=20)
#img = np.repeat(img[:,:,np.newaxis], 3, axis=2)
#img = np.stack([img, np.zeros_like(img), np.zeros_like(img)], axis=-1)
#print(img.shape, img.dtype)
#points, features = detector.detectAndCompute(img, np.ones_like(img, dtype=np.uint8))
opoints, features = detector.detectAndCompute(img, mask)
#points = detector.detect(img, mask)
#points, features = brief.compute(np.repeat(img[:,:,np.newaxis], 3, axis=2), points)
points = _normalize_points(np.array(opoints), img)
#feature_params = {"maxCorners": 200, "qualityLevel": 0.01, "minDistance": 19, "blockSize": 21}
#feature_params = {"maxCorners": 200, "qualityLevel": 0.05, "minDistance": 13, "blockSize": 17}
#points = cv2.goodFeaturesToTrack(img, mask=mask, **feature_params)
#points = points[:,0]
#features = None
#print(points.shape)
else:
if "feat_thres" in config:
feat_thres = config["feat_thres"]
else:
feat_thres = 100
if detector is None:
detector = cv2.cuda.SURF_CUDA_create(feat_thres, 4, 3, False, 0.01, True)
if gpu_img is None:
gpu_img = cv2.cuda_GpuMat()
if gpu_mask is None:
gpu_mask = cv2.cuda_GpuMat()
gpu_img.upload(img)
gpu_mask.upload(mask)
while(1):
try:
points, features = detector.detectWithDescriptors(gpu_img, gpu_mask)
break
except Exception as e:
pass
points = points.download()
features = features.download()
points = np.swapaxes(points, 0,1)
points = np.array([cv2.KeyPoint(p[0],p[1],p[4],p[5],p[6],int(p[3]),i) for i,p in enumerate(points)])
#print("findInitialFeatures", time.perf_counter()-perftime)
return points, features
def normalize_points(points, img):
return points
def unnormalize_points(points, img):
return points
def _normalize_points(points, img):
xdim, ydim = img.shape
if len(points.shape) == 1:
return np.array([[100.0*p.pt[0]/xdim, 100.0*p.pt[1]/ydim] for p in points])
else:
ret = np.array(points)
ret[...,0] *= 100.0/xdim
ret[...,1] *= 100.0/ydim
return ret
def _unnormalize_points(points, img):
xdim, ydim = img.shape
ret = np.array(points)
ret[:,0] *= xdim/100.0
ret[:,1] *= ydim/100.0
return ret
def Projection_Preprocessing(proj, alpha=0, beta=255):
proj = np.array(proj, dtype=np.float32)
mean = np.mean(proj)
std = np.std(proj)
return (proj-mean) / std
if len(proj.shape) == 2:
return cv2.normalize(proj, None, alpha, beta, cv2.NORM_MINMAX).astype('uint8')
else:
return np.swapaxes(np.array([cv2.normalize(proj[:,i], None, alpha, beta, cv2.NORM_MINMAX).astype('uint8') for i in range(proj.shape[1])]), 0,1)