特征点可视化python/显示图像为灰度图，但点为彩色实心点

特征点可视化python/显示图像为灰度图，但点为彩色实心点

import numpy as np
import cv2 as cv
import os
from matplotlib import pyplot as plt


def draw_keypoints(img, corners, color, radius=2):
    # 要绘制的图像为灰度图，但绘制的点为彩色点
    img = np.repeat(img[..., np.newaxis], 3, -1)
    # 将图像复制成三通道类似于RGB，否则cv.circle()画点时会按img本身的灰度图处理
    for c in corners:
        cv.circle(img, tuple(c), radius, color, thickness=-1)
        # cv.circle中要求输入的点为tuple, thickness=-1代表为实心圆
    return img


def visulize_kp(imgpath, keypointpath, savepath):
    '''
    :param imgpath: the path of the image need to be visulized
    :param keypointpath: the path of the file recorded the keypoints, usually with the tail '.npz'
    :param savepath
    :return: none
    '''
    img = cv.imread(imgpath,0)
    kplist = np.load(keypointpath)['pts']
    kp = []
    for n in kplist:
        kp.append((int(n[0]),int(n[1])))
    img2 = draw_keypoints(img, kp, (0, 255, 0))
    # kp = [cv.KeyPoint(p[1], p[0], 0.1) for p in kp]   # 需要将二维特征点坐标转化为KeyPoint对象
    # img2 = cv.drawKeypoints(img, kp, None, color=(255,0,0))  # 此种方法绘制的点虽为彩色但是是用圆圈表示，而非实心点
    if not os.path.exists(savepath):
        os.makedirs(savepath)
    savename = os.path.split(imgpath)[1]
    tsavepath = os.path.join(savepath, savename)
    cv.imwrite(tsavepath, img2)