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Johannes Schönberger
51 lines
1.7 KiB
Python
51 lines
1.7 KiB
Python
"""
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==========================================
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ORB feature detector and binary descriptor
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==========================================
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This example demonstrates the ORB feature detection and binary description
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algorithm. It uses an oriented FAST detection method and the rotated BRIEF
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descriptors.
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ORB is comparatively scale- and rotation-invariant. As a binary descriptor it
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allows to employ the very efficient Hamming distance metric for matching and
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is thus preferred for real-time applications.
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"""
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import numpy as np
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from skimage import data
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from skimage import transform as tf
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from skimage.feature import (match_descriptors, corner_harris,
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corner_peaks, ORB, plot_matches)
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from skimage.color import rgb2gray
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from skimage import img_as_float
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import matplotlib.pyplot as plt
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img1 = rgb2gray(data.lena())
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img2 = tf.rotate(img1, 180)
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tform = tf.AffineTransform(scale=(1.3, 1.1), rotation=0.5,
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translation=(0, -200))
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img3 = tf.warp(img1, tform)
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descriptor_extractor = ORB(n_keypoints=200)
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keypoints1, descriptors1 = descriptor_extractor.detect_and_extract(img1)
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keypoints2, descriptors2 = descriptor_extractor.detect_and_extract(img2)
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keypoints3, descriptors3 = descriptor_extractor.detect_and_extract(img3)
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fig, ax = plt.subplots(nrows=2, ncols=1)
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plt.gray()
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idxs1, idxs2 = match_descriptors(descriptors1, descriptors2, cross_check=True)
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plot_matches(ax[0], img1, img2, keypoints1, keypoints2,
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idxs1, idxs2)
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ax[0].axis('off')
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idxs1, idxs3 = match_descriptors(descriptors1, descriptors3, cross_check=True)
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plot_matches(ax[1], img1, img3, keypoints1, keypoints3,
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idxs1, idxs3)
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ax[1].axis('off')
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plt.show()
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