Commit ebc55f33 authored by Jay's avatar Jay Committed by Jason R Laura
Browse files

Adds optional dependency / functionality to utilize VLFeat SIFT implementation... 

Adds optional dependency / functionality to utilize VLFeat SIFT implementation for keypoint and descriptor extraction.
parent cf726099

autocnet/graph/node.py

+24 −14
Original line number Diff line number Diff line
@@ -217,7 +217,12 @@ class Node(dict, MutableMapping): 
                 kwargs passed to autocnet.feature_extractor.extract_features



        """

        keypoint_objs, descriptors = fe.extract_features(array, **kwargs)

        keypoint_objs, self.descriptors = fe.extract_features(array, **kwargs)

        if self.descriptors.dtype != np.float32:

            self.descriptors = self.descriptors.astype(np.float32)



        # OpenCV returned keypoint objects

        if isinstance(keypoint_objs, list):

            keypoints = np.empty((len(keypoint_objs), 7), dtype=np.float32)

            for i, kpt in enumerate(keypoint_objs):

                octave = kpt.octave & 8
@@ -230,7 +235,12 @@ class Node(dict, MutableMapping): 
            self._keypoints = pd.DataFrame(keypoints, columns=['x', 'y', 'response', 'size',

                                                               'angle', 'octave', 'layer'])

            self.nkeypoints = len(self._keypoints)

        self.descriptors = descriptors.astype(np.float32)



        # VLFeat returned keypoint objects

        elif isinstance(keypoint_objs, np.ndarray):

            # Swap columns for value style access, vl_feat returns y, x

            keypoint_objs[:, 0], keypoint_objs[:, 1] = keypoint_objs[:, 1], keypoint_objs[:, 0].copy()

            self._keypoints = pd.DataFrame(keypoint_objs, columns=['x', 'y', 'size', 'angle'])



    def load_features(self, in_path):

        """

autocnet/matcher/feature_extractor.py

+15 −3
Original line number Diff line number Diff line 
import cv2



try:

    import cyvlfeat as vl

    vlfeat = True

except:

    vlfeat = False

    pass





def extract_features(array, method='orb', extractor_parameters=None):

    """
@@ -28,6 +35,11 @@ def extract_features(array, method='orb', extractor_parameters=None): 
                 'sift': cv2.xfeatures2d.SIFT_create,

                 'surf': cv2.xfeatures2d.SURF_create,

                 'orb': cv2.ORB_create}

    if vlfeat:

        detectors['vl_sift'] = vl.sift.sift



    if 'vl_' in method:

        return detectors[method](array, compute_descriptor=True, float_descriptors=True, **extractor_parameters)

    else:

        detector = detectors[method](**extractor_parameters)

        return detector.detectAndCompute(array, None)

autocnet/matcher/tests/test_feature_extractor.py

+7 −0
Original line number Diff line number Diff line
@@ -32,3 +32,10 @@ class TestFeatureExtractor(unittest.TestCase): 
        self.assertIn(len(features[0]), range(8, 12))

        self.assertIsInstance(features[0][0], type(cv2.KeyPoint()))

        self.assertIsInstance(features[1][0], np.ndarray)



    def test_extract_vlfeat(self):

        kps, descriptors = feature_extractor.extract_features(self.data_array,

                                                              method='vl_sift',

                                                              extractor_parameters={})

        self.assertIsInstance(kps, np.ndarray)

        self.assertEqual(descriptors.dtype, np.float32)