Commit 54753be9 authored by Kelvinrr's avatar Kelvinrr
Browse files

Added more testing, verbose option, change as per github comments

parent 34b5dfb8

autocnet/matcher/ciratefi.py

+285 −52
Changes for autocnet/matcher/ciratefi.py: 285 added lines, 52 removed lines.
Original line number Diff line number Diff line 
import numpy as np

import math

import warnings

from bisect import bisect_left



import cv2

import matplotlib.pyplot as plt

import numpy as np

from scipy.misc import imresize

from scipy.ndimage.interpolation import zoom

from scipy.ndimage.interpolation import rotate

from scipy.ndimage.interpolation import zoom



import autocnet.utils.utils as util





def cifi(template, search_image, thresh=90, use_percentile=True,

         radii=list(range(1,12)), scales=[0.5, 0.57, 0.66,  0.76, 0.87, 1.0]):

         radii=list(range(1,12)), scales=[0.5, 0.57, 0.66,  0.76, 0.87, 1.0], verbose=False):

    """

        Circular sampling filter (Cifi) uses projections of the template and search

        images on a set of circular rings to detect the first grade candidate pixels
@@ -51,13 +53,18 @@ def cifi(template, search_image, thresh=90, use_percentile=True, 
                 The list of scales to be applied to the template image, best if

                 a geometric series



        verbose : bool

                  Set to True in order to output images and text describing the outputs. Can

                  cause a serious decrease in performance. False by default.



        returns

        -------

        fg_candidate_pixels : object

        fg_candidate_pixels : ndarray

                              array of pixels that passed the filter in tuples (y,x)



        best_scales : object

        best_scales : ndarray

                      parrallel array of best scales for the first grade candidate points



    """



    # check inputs for validity
@@ -66,16 +73,16 @@ def cifi(template, search_image, thresh=90, use_percentile=True, 
                         'size: {} and search image of size: {}'

                         .format(template.shape, search_image.shape))



    radii = np.array(radii)

    radii = np.asarray(radii)

    if not radii.size or not np.any(radii):

        raise ValueError('Input radii list is empty')



    scales = np.array(scales)

    scales = np.asarray(scales)

    if not scales.size or not np.any(scales):

        raise ValueError('Input scales list is empty')



    if max(radii) > max(template.shape)/2:

        warnings.warn('Max Radii is larger than original template, this mat produce sub-par results.'

        warnings.warn('Max Radii is larger than original template, this may produce sub-par results.'

                      'Max radii: {} max template dimension: {}'.format(max(radii), max(template.shape)))



    if thresh < -1. or thresh > 1. and not use_percentile:
@@ -88,14 +95,21 @@ def cifi(template, search_image, thresh=90, use_percentile=True, 
    for i, s in enumerate(scales):

        scaled_img = imresize(template, s)

        for j, r in enumerate(radii):

            # Generate a circular mask

            # Handle case where image shape is too small

            try:

                a, b = (int(scaled_img.shape[0] / 2),

                        int(scaled_img.shape[1] / 2))

            except:

                template_result[i, j] = -math.inf

                continue



            # if radius is bigger than extents, force sum to -1

            if r > b or r > a:

                s =-1

                template_result[i, j] = -math.inf

                continue



            mask = util.circ_mask(scaled_img.shape, (a,b), r)

            # generate a circular mask

            mask = circ_mask(scaled_img.shape, (a, b), r)



            inv_area = 1 / (2 * math.pi * r)

            s = np.sum(scaled_img[mask]) * inv_area
@@ -111,7 +125,7 @@ def cifi(template, search_image, thresh=90, use_percentile=True, 
            for k, r in enumerate(radii):

                inv_area = 1 / (2 * math.pi * r)



                mask = util.circ_mask(search_image.shape, (i,j), r)

                mask = circ_mask(search_image.shape, (i,j), r)

                s = np.sum(search_image[mask]) * inv_area



                if s == 0 or y < r or x < r or y+r > search_image.shape[0] or x+r > search_image.shape[1]:
@@ -128,27 +142,36 @@ def cifi(template, search_image, thresh=90, use_percentile=True, 
            max_coeff = -math.inf

            for i in range(template_result.shape[0]):



                max_corr = util.corr_normed(template_result[i], search_result[y,x])

                result = cv2.matchTemplate(template_result[i].astype(np.float32),

                                           search_result[y, x].astype(np.float32), method=cv2.TM_CCORR_NORMED)

                score = np.average(result)



                if max_corr > max_coeff:

                    max_coeff = max_corr

                if score > max_coeff:

                    max_coeff = score

                    scale = i



            coeffs[y, x] = max_coeff

            best_scales[y, x] = scales[scale]



    # get first grade candidate points

    t1 = thresh if not use_percentile else np.percentile(coeffs, thresh)

    fg_candidate_pixels = np.array([(y, x) for (y, x), coeff in np.ndenumerate(coeffs) if coeff >= t1])



    if use_percentile:

        thresh = np.percentile(coeffs, thresh)



    fg_candidate_pixels = np.array([(y, x) for (y, x), coeff in np.ndenumerate(coeffs) if coeff >= thresh])



    if fg_candidate_pixels.size == 0:

        warnings.warn('Cifi returned empty set.')



    if verbose: # pragma: no cover

        plt.imshow(coeffs, interpolation='none')

        plt.show()



    return fg_candidate_pixels, best_scales





def rafi(template, search_image, candidate_pixels, best_scales, thresh=95,

         use_percentile=True, alpha=math.pi/8, radii=list(range(1, 12))):

         use_percentile=True, alpha=math.pi/8, radii=list(range(1, 12)), verbose=False ):

    """

    The seconds filter in Ciratefi, the Radial Sampling Filter (Rafi), uses

    projections of the template image and the search image on a set of radial
@@ -181,7 +204,7 @@ def rafi(template, search_image, candidate_pixels, best_scales, thresh=95, 
                       array of candidate pixels in tuples (y,x), best if

                       the pixel are the output of Cifi



    best_scales : np.array

    best_scales : ndarray

             The list of best fit scales for each candidate point,

             the length should equal the length of the candidate point

             list
@@ -204,11 +227,15 @@ def rafi(template, search_image, candidate_pixels, best_scales, thresh=95, 
            The list of radii to use for radial sampling, best if the list

            is the same as the one used for Cifi



    verbose : bool

              Set to True in order to output images and text describing the outputs. Can

              cause a serious decrease in performance. False by default.



    returns

    -------

    sg_candidate_points : object

    sg_candidate_points : ndarray



    best_rotation : object

    best_rotation : ndarray

                    Parrallel array of the best fit rotations for each

                    second grade candidate pixel

    """
@@ -220,11 +247,11 @@ def rafi(template, search_image, candidate_pixels, best_scales, thresh=95, 
                         'size: {} and search image of size: {}'

                         .format(template.shape, search_image.shape))



    candidate_pixels = np.array(candidate_pixels)

    candidate_pixels = np.asarray(candidate_pixels)

    if not candidate_pixels.size or not np.any(candidate_pixels):

        raise ValueError('cadidate pixel list is empty')



    best_scales = np.array(best_scales, dtype=np.float32)

    best_scales = np.asarray(best_scales, dtype=np.float32)

    if not best_scales.size or not np.any(best_scales):

        raise ValueError('best_scale list is empty')
@@ -233,11 +260,11 @@ def rafi(template, search_image, candidate_pixels, best_scales, thresh=95, 
                         'got: best scales shape: {}, search image shape: {}'

                         .format(best_scales.shape, search_image.shape))



    radii = np.array(radii, dtype=int)

    radii = np.asarray(radii, dtype=int)

    if not radii.size or not np.any(radii):

        raise ValueError('Input radii list is empty')



    best_scales = np.array(best_scales, dtype=float)

    best_scales = np.asarray(best_scales, dtype=float)

    if not best_scales.size or not np.any(best_scales):

        raise ValueError('Input best_scales list is empty')
@@ -269,7 +296,7 @@ def rafi(template, search_image, candidate_pixels, best_scales, thresh=95, 


    for i in range(len(template_alpha_samples)):

        # Create Radial Line Mask

        mask = util.radial_line_mask(template.shape, (center_y, center_x), radius, alpha=alpha_list[i])

        mask = radial_line_mask(template.shape, (center_y, center_x), radius, alpha=alpha_list[i])



        # Sum the values

        template_alpha_samples[i] = np.sum(template[mask])/radius
@@ -296,13 +323,16 @@ def rafi(template, search_image, candidate_pixels, best_scales, thresh=95, 


        for j in range(len(alpha_list)):

            # Create Radial Mask

            mask = util.radial_line_mask(scaled_img.shape, (scaled_center_y, scaled_center_x),

            mask = radial_line_mask(scaled_img.shape, (scaled_center_y, scaled_center_x),

                                         scaled_center_y, alpha=alpha_list[j])

            rafi_alpha_means[i, j] = np.sum(scaled_img[mask])/radius



    best_rotation = np.zeros(len(candidate_pixels))

    rafi_coeffs = np.zeros(len(candidate_pixels))



    if verbose: # pragma: no cover

        image_pixels = np.zeros((search_image.shape[0], search_image.shape[1]))



    # Perform Normalized Cross-Correlation between template and target image

    for i in range(len(candidate_pixels)):

        maxcoeff = -math.inf
@@ -311,7 +341,9 @@ def rafi(template, search_image, candidate_pixels, best_scales, thresh=95, 
        for j in range(len(alpha_list)):

            # perform circular shifting of template sums

            shifted_template_angle_sums = np.roll(template_alpha_samples, j)

            score = util.corr_normed(shifted_template_angle_sums, rafi_alpha_means[i])

            result = cv2.matchTemplate(shifted_template_angle_sums.astype(np.float32),

                                       rafi_alpha_means[i].astype(np.float32), method=cv2.TM_CCORR_NORMED)

            score = np.average(result)



            if score > maxcoeff:

                maxcoeff = score
@@ -319,22 +351,31 @@ def rafi(template, search_image, candidate_pixels, best_scales, thresh=95, 


        rafi_coeffs[i] = maxcoeff

        best_rotation[i] = alpha_list[maxrotate]

        if verbose: # pragma: no cover

            image_pixels[y, x] = maxcoeff



    # Get second grade candidate points and best rotation

    t2 = thresh if not use_percentile else np.percentile(rafi_coeffs, thresh)

    rafi_mask = rafi_coeffs >= t2



    if use_percentile:

        thresh = np.percentile(rafi_coeffs, thresh)



    rafi_mask = rafi_coeffs >= thresh

    sg_candidate_points = candidate_pixels[rafi_mask]

    best_rotation = best_rotation[rafi_mask]



    if sg_candidate_points.size == 0:

        warnings.warn('Second filter Rafi returned empty set.')



    if verbose: # pragma: no cover

        plt.imshow(image_pixels, interpolation='none')

        plt.show()



    return sg_candidate_points, best_rotation





def tefi(template, search_image, candidate_pixels, best_scales, best_angles,

         scales=[0.5, 0.57, 0.66,  0.76, 0.87, 1.0], upsampling=1, thresh=100,

         alpha=math.pi/16, use_percentile=True):

         alpha=math.pi/16, use_percentile=True, verbose=False):

    """

    Template Matching Filter (Tefi) is the third and final filter for ciratefi.
@@ -357,15 +398,15 @@ def tefi(template, search_image, candidate_pixels, best_scales, best_angles, 
    image : ndarray

            The image or sub-image to be searched



    candidate_pixels : 1darray

    candidate_pixels : ndarray

                       array of candidate pixels in tuples (y,x), best if

                       the pixel are the output of Cifi



    best_scales : list

    best_scales : ndarray

                  The list of best fit scales for each candidate point, the length

                  should equal the length of the candidate point list



    best_angles : list

    best_angles : ndarray

                  The list of best fit rotation for each candidate point in radians,

                  the length should equal the length of the candidate point list
@@ -385,11 +426,14 @@ def tefi(template, search_image, candidate_pixels, best_scales, best_angles, 
    alpha : float

            A float between 0 & 2*pi, alpha list = np.arange(0, 2*pi, alpha)



    verbose : bool

              Set to True in order to output images and text describing the outputs. Can

              cause a serious decrease in performance. False by default.



    returns

    -------



    results : 1darray

    results : ndarray

              array of pixel tuples (y,x) which over the threshold

    """
@@ -400,11 +444,11 @@ def tefi(template, search_image, candidate_pixels, best_scales, best_angles, 
                         'size: {} and search image of size: {}'

                         .format(template.shape, search_image.shape))



    candidate_pixels = np.array(candidate_pixels)

    candidate_pixels = np.asarray(candidate_pixels)

    if not candidate_pixels.size or not np.any(candidate_pixels):

        raise ValueError('cadidate pixel list is empty')



    best_scales = np.array(best_scales, dtype=np.float32)

    best_scales = np.asarray(best_scales, dtype=np.float32)

    if not best_scales.size or not np.any(best_scales):

        raise ValueError('best_scale list is empty')
@@ -413,11 +457,11 @@ def tefi(template, search_image, candidate_pixels, best_scales, best_angles, 
                         'got: best scales shape: {}, search image shape: {}'

                         .format(best_scales.shape, search_image.shape))



    best_angles = np.array(best_angles, dtype=np.float32)

    best_angles = np.asarray(best_angles, dtype=np.float32)

    if not best_angles.size or not np.any(best_angles):

        raise ValueError('Input radii list is empty')

        raise ValueError('Input best angle list is empty')



    best_scales = np.array(best_scales, dtype=float)

    best_scales = np.asarray(best_scales, dtype=float)

    if not best_scales.size or not np.any(best_scales):

        raise ValueError('Input best_scales list is empty')
@@ -429,7 +473,11 @@ def tefi(template, search_image, candidate_pixels, best_scales, best_angles, 
    if upsampling < 1:

        raise ValueError('Upsampling must be >= 1, got {}'.format(upsampling))



    tefi_coeffs = np.zeros(len(candidate_pixels))

    tefi_coeffs = np.zeros(candidate_pixels.shape[0])



    # if verbose, preallocate pixel data

    if verbose: # pragma: no cover

        image_pixels = np.zeros((search_image.shape[0], search_image.shape[1]))



    # check for upsampling

    if upsampling > 1:
@@ -443,13 +491,17 @@ def tefi(template, search_image, candidate_pixels, best_scales, best_angles, 
    for i in range(len(candidate_pixels)):

        y, x = candidate_pixels[i]



        try:

            best_scale_idx = (np.where(scales == best_scales[y//upsampling, x//upsampling]))[0][0]

            best_alpha_idx = (np.where(np.isclose(alpha_list, best_angles[i], atol=.01)))[0][0]

        except:

            tefi_coeffs[i] = 0

            continue



        tefi_scales = np.array(scales).take(range(best_scale_idx-1, best_scale_idx+2), mode='wrap')

        tefi_alphas = alpha_list.take(range(best_alpha_idx-1, best_alpha_idx+2), mode='wrap')



        scalesxalphas = util.cartesian_product([tefi_scales, tefi_alphas])

        scalesxalphas = util.cartesian([tefi_scales, tefi_alphas])



        max_coeff = -math.inf

        for j in range(scalesxalphas.shape[0]):
@@ -461,38 +513,219 @@ def tefi(template, search_image, candidate_pixels, best_scales, best_angles, 


            cropped_search = search_image[y-y_window:y+y_window+1, x-x_window:x+x_window+1]



            if y < y_window or x < x_window or cropped_search.shape < transformed_template.shape:

            if(y < y_window or x < x_window or cropped_search.shape < transformed_template.shape or

               cropped_search.shape != transformed_template.shape):

                score = -1

            else:

                score = util.corr_normed(transformed_template.flatten(), cropped_search.flatten())

                result = cv2.matchTemplate(transformed_template.astype(np.float32), cropped_search.astype(np.float32), method=cv2.TM_CCORR_NORMED)

                score = np.average(result)



            if score > max_coeff:

                max_coeff = score



        tefi_coeffs[i] = max_coeff



    t3 = thresh if not use_percentile else np.percentile(tefi_coeffs, thresh)

    results = candidate_pixels[np.where(tefi_coeffs >= t3)]

        if verbose: # pragma: no cover

            image_pixels[y//upsampling, x//upsampling] = max_coeff



    if use_percentile:

        thresh = np.percentile(tefi_coeffs, int(thresh))



    candidate_pixels = candidate_pixels/upsampling



    results = candidate_pixels[np.where(tefi_coeffs >= thresh)]



    if verbose: # pragma: no cover

        plt.imshow(image_pixels, interpolation='none')

        plt.scatter(y=results[:, 0], x=results[:, 1], c='w', s=80)

        plt.show()



    return  results//upsampling

    return results





def ciratefi(template, search_image, upsampling=1, cifi_thresh=95, rafi_thresh=95, tefi_thresh=100,

             use_percentile=False, alpha=math.pi/16,

             scales=[0.5, 0.57, 0.66,  0.76, 0.87, 1.0], radii=list(range(1,12))):

             use_percentile=False, alpha=math.pi/16, scales=[0.5, 0.57, 0.66,  0.76, 0.87, 1.0],

             radii=list(range(1, 12)), verbose=False):

    """

    Parameters

    ----------

    template : ndarray

               The input search template used to 'query' the destination

               image



    search_image : ndarray

                   The image or sub-image to be searched



    upsampling : int

                 upsample degree



    cifi_thresh : float

             The correlation thresh hold for cifi above which a point will

             be a first grade candidate point. If use_percentile=True

             this will act as a percentile, for example, passing 90 means

             keep values in the top 90th percentile



    rafi_thresh : float

                  The correlation thresh hold for rafi above which a point will

                  be a first grade candidate point. If use_percentile=True

                  this will act as a percentile, for example, passing 90 means

                  keep values in the top 90th percentile



    tefi_thresh : float

                  The correlation thresh hold for tefi above which a point will

                  be a first grade candidate point. If use_percentile=True

                  this will act as a percentile, for example, passing 90 means

                  keep values in the top 90th percentile



    use_percentile : bool

                     If True (default), thresh is a percentile instead of a hard

                     strength value

    alpha : float

            Must be greater than 0, if alpha is greater than 2*pi, it is reduced to it's

            equivalent angle in [0,2*pi]. alpha list = np.arange(0, 2*pi, alpha)



    radii : np.array

            The list of radii to use for radial sampling



    scales : list

             The list of scales to be applied to the template image, best if

             a geometric series



    verbose : bool

              Set to True in order to output images and text describing the outputs. Can

              cause a serious decrease in performance. False by default.



    Returns

    -------

    results : ndarray

              array of pixel in (y, x)

    """



    # Perform first filter cifi

    fg_candidate_pixels, best_scales = cifi(template, search_image, thresh=cifi_thresh,

                                            use_percentile=use_percentile,

                                            scales=scales, radii=radii)

                                            scales=scales, radii=radii, verbose=verbose)

    # Perform second filter rafi

    sg_candidate_points, best_rotation = rafi(template, search_image, fg_candidate_pixels, best_scales,

                                              thresh=rafi_thresh, use_percentile=use_percentile, alpha=alpha,

                                              radii=radii)

                                              radii=radii, verbose=verbose)



    # Perform last filter tefi

    results = tefi(template, search_image, sg_candidate_points, best_scales, best_rotation,

                   thresh=tefi_thresh, alpha=math.pi/4, use_percentile=True, upsampling=upsampling)

                   thresh=tefi_thresh, alpha=math.pi/4, use_percentile=True, upsampling=upsampling, verbose=verbose)



    # return the points found

    return results





def to_polar_coord(shape, center):

    """

    Generate a polar coordinate grid from a shape given

    a center.



    parameters

    ----------

    shape : tuple

            tuple decribing the desired shape in

            (y,x)



    center : tuple

             tuple describing the desired center

             for the grid



    returns

    -------

    r2 : ndarray

         grid of radii from the center



    theta : ndarray

            grid of angles from the center

    """



    y, x = np.ogrid[:shape[0], :shape[1]]

    cy, cx = center

    tmin, tmax = (0, 2*math.pi)



    # ensure stop angle > start angle

    if tmax < tmin:

        tmax += 2*np.pi



    # convert cartesian --> polar coordinates

    r2 = (x-cx)*(x-cx) + (y-cy)*(y-cy)

    theta = np.arctan2(x-cx, y-cy) - tmin



    # wrap angles between 0 and 2*pi

    theta %= (2*np.pi)



    return r2, theta





def circ_mask(shape, center, radius):

    """

    Generates a circular mask



    parameters

    ----------

    shape : tuple

            tuple decribing the desired mask shape in

            (y,x)



    center : tuple

             tuple describing the desired center

             for the circle



    radius : float

             radius of circlular mask



    returns

    -------



    mask : ndarray

           circular mask of bools

    """



    r, theta = to_polar_coord(shape, center)



    circle_mask = r == radius*radius

    angle_mask = theta <= 2*math.pi



    return circle_mask*angle_mask





def radial_line_mask(shape, center, radius, alpha=0.19460421, atol=.01):

    """

    Generates a linear mask from center at angle alpha.



    parameters

    ----------

    shape : tuple

            tuple decribing the desired mask shape in

            (y,x)



    center : tuple

             tuple describing the desired center

             for the circle



    radius : float

             radius of the line mask



    alpha : float

            angle for the line mask



    atol : float

           absolute tolerance for alpha, the higher

           the tolerance, the wider the angle bandwidth



    returns

    -------



    mask : ndarray

           linear mask of bools

    """



    r, theta = to_polar_coord(shape, center)



    line_mask = r <= radius**2

    anglemask = np.isclose(theta, [alpha], atol=atol)



    return line_mask*anglemask

autocnet/matcher/tests/test_ciratefi.py

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autocnet/utils/utils.py

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notebooks/Ciratefi.ipynb

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