目标检测 目标识别
HOG：特征描述符 按八个方向计算颜色梯度 一个单元16*16像素 一个块2*2单元 按块构成特征向量
图像金字塔：使用任意尺度缩小图像大小 使用高斯模糊平滑图像 图像比最小尺寸还大则重复操作
滑动窗口：解决定位问题 使用图像金字塔在不同尺度下重复扫描
非最大抑制：解决区域重叠问题
1.建立图像金字塔，采用滑动窗口搜素图像
2.收集所有超出阈值的含目标窗口，并得到最高响应的窗口W
3.消除所有与W有明显重叠的窗口
4.移动到下一个有最高相应的窗口，在当前尺度下重复上述过程
5.移动图像到金字塔的下一个尺度，重复上述过程
SVM：分类 确定窗口的置信度评分
BOG：词袋技术
1.取一个样本数据集
2.对数据集中的每幅图像提取描述符
3.将每个描述符都添加到BOW训练器中
4.将描述符聚类到k簇中
import cv2
import numpy as np
from os.path import join
datapath = "CarData/TrainImages/"
def path(cls,i):
return "%s/%s%d.pgm" % (datapath,cls,i+1)
pos, neg = "pos-", "neg-"
detect = cv2.xfeatures2d.SIFT_create()
extract = cv2.xfeatures2d.SIFT_create()#SIFT特征提取
flann_params = dict(algorithm = 1, trees = 5)
matcher = cv2.FlannBasedMatcher(flann_params, {})#FLANN特征匹配
bow_kmeans_trainer = cv2.BOWKMeansTrainer(40)#初始化BOW训练器 簇数40
extract_bow = cv2.BOWImgDescriptorExtractor(extract, matcher)#初始化BOW提取器
def extract_sift(fn):
im = cv2.imread(fn,0)################### 1.取一个样本数据集
return extract.compute(im, detect.detect(im))[1]# 2.对数据集中的每幅图像提取描述符
for i in range(8):#每个类8个正样本8个负样本
bow_kmeans_trainer.add(extract_sift(path(pos,i)))# 3.将每个描述符都添加到BOW训练器中
bow_kmeans_trainer.add(extract_sift(path(neg,i)))
vocabulary = bow_kmeans_trainer.cluster()####### 4.将描述符聚类到k簇中
extract_bow.setVocabulary( vocabulary )
def bow_features(fn):
im = cv2.imread(fn,0)
return extract_bow.compute(im, detect.detect(im))
traindata, trainlabels = [],[]#训练数据和标签
for i in range(20):
traindata.extend(bow_features(path(pos, i))); trainlabels.append(1)#基于BOW描述符提取器计算得到的描述符
traindata.extend(bow_features(path(neg, i))); trainlabels.append(-1)
svm = cv2.ml.SVM_create()#创建svm实例
svm.train(np.array(traindata), cv2.ml.ROW_SAMPLE, np.array(trainlabels))#训练SVM分类器
def predict(fn):
f = bow_features(fn); #基于BOW描述符提取器计算测试图片的描述符
p = svm.predict(f)
print fn, "\t", p[1][0][0]
return p
car, notcar = "../images/car.jpg", "../images/bb.jpg"
car_img = cv2.imread(car)
notcar_img = cv2.imread(notcar)
car_predict = predict(car)
not_car_predict = predict(notcar)
font = cv2.FONT_HERSHEY_SIMPLEX
if (car_predict[1][0][0] == 1.0):
cv2.putText(car_img,'Car Detected',(10,30), font, 1,(0,255,0),2,cv2.LINE_AA)#cv2.putText
if (not_car_predict[1][0][0] == -1.0):
cv2.putText(notcar_img,'Car Not Detected',(10,30), font, 1,(0,0, 255),2,cv2.LINE_AA)
cv2.imshow('BOW + SVM Success', car_img)
cv2.imshow('BOW + SVM Failure', notcar_img)
cv2.waitKey(0)
cv2.destroyAllWindows()
滑动窗口 图像金字塔
|- car_sliding_windows.py
|- car_detector
|- __init__.py
|- detector.py
|- non_maximum.py
|- pyramid.py
|- sliding_window.py
car_sliding_windows.py
import cv2
import numpy as np
from car_detector.detector import car_detector, bow_features
from car_detector.pyramid import pyramid
from car_detector.non_maximum import non_max_suppression_fast as nms
from car_detector.sliding_window import sliding_window
import urllib
def in_range(number, test, thresh=0.2):
return abs(number - test) < thresh
test_image = "../images/cars.jpg"
img_path = "../images/test.jpg"
urllib.urlretrieve(test_image, img_path)
svm, extractor = car_detector()
detect = cv2.xfeatures2d.SIFT_create()
w, h = 100, 40
img = cv2.imread(img_path)
#img = cv2.imread(test_image)
rectangles = []
counter = 1
scaleFactor = 1.25
scale = 1
font = cv2.FONT_HERSHEY_PLAIN
for resized in pyramid(img, scaleFactor):
scale = float(img.shape[1]) / float(resized.shape[1])
for (x, y, roi) in sliding_window(resized, 20, (100, 40)):
if roi.shape[1] != w or roi.shape[0] != h:
continue
try:
bf = bow_features(roi, extractor, detect)
_, result = svm.predict(bf)
a, res = svm.predict(bf, flags=cv2.ml.STAT_MODEL_RAW_OUTPUT | cv2.ml.STAT_MODEL_UPDATE_MODEL)
print "Class: %d, Score: %f, a: %s" % (result[0][0], res[0][0], res)
score = res[0][0]
if result[0][0] == 1:
if score < -1.0:
rx, ry, rx2, ry2 = int(x * scale), int(y * scale), int((x+w) * scale), int((y+h) * scale)
rectangles.append([rx, ry, rx2, ry2, abs(score)])
except:
pass
counter += 1
windows = np.array(rectangles)
boxes = nms(windows, 0.25)
for (x, y, x2, y2, score) in boxes:
print x, y, x2, y2, score
cv2.rectangle(img, (int(x),int(y)),(int(x2), int(y2)),(0, 255, 0), 1)
cv2.putText(img, "%f" % score, (int(x),int(y)), font, 1, (0, 255, 0))
cv2.imshow("img", img)
cv2.waitKey(0)
Python解释器会将带有 yield的函数其视为一个generator，看起来像函数调用，但不会执行任何函数代码，直到对其调用next()（在 for 循环中会自动调用next()）才开始执行，每执行到一个yield语句就会中断，并返回一个迭代值，下次执行时从yield的下一个语句继续执行
通过指定的因子来调整图像大小 建立图像金字塔
pyramid.py
import cv2
def resize(img, scaleFactor):
return cv2.resize(img, (int(img.shape[1] * (1 / scaleFactor)), int(img.shape[0] * (1 / scaleFactor))), interpolation=cv2.INTER_AREA)
def pyramid(image, scale=1.5, minSize=(200, 80)):
yield image #yield 生成器
while True:
image = resize(image, scale)
if image.shape[0] < minSize[1] or image.shape[1] < minSize[0]:
break
yield image
滑动窗口
sliding_window.py
def sliding_window(image, step, window_size):
for y in xrange(0, image.shape[0], step):#高 #xrange生成的不是一个list对象，而是一个生成器
for x in xrange(0, image.shape[1], step):#宽
yield (x, y, image[y:y + window_size[1], x:x + window_size[0]])
non_maximum.py
import numpy as np
def non_max_suppression_fast(boxes, overlapThresh):
# if there are no boxes, return an empty list
if len(boxes) == 0:
return []
# if the bounding boxes integers, convert them to floats --
# this is important since we'll be doing a bunch of divisions
if boxes.dtype.kind == "i":
boxes = boxes.astype("float")
# initialize the list of picked indexes
pick = []
# grab the coordinates of the bounding boxes
x1 = boxes[:,0]
y1 = boxes[:,1]
x2 = boxes[:,2]
y2 = boxes[:,3]
scores = boxes[:,4]
# compute the area of the bounding boxes and sort the bounding
# boxes by the score/probability of the bounding box
area = (x2 - x1 + 1) * (y2 - y1 + 1)
idxs = np.argsort(scores)#返回下标列表 顺序 从小到大的列表
#idxs = idxs[::-1] 逆序
# keep looping while some indexes still remain in the indexes
# list
while len(idxs) > 0:
# grab the last index in the indexes list and add the
# index value to the list of picked indexes
last = len(idxs) - 1
i = idxs[last]
pick.append(i)#用于保存scores最大的下标
# find the largest (x, y) coordinates for the start of
# the bounding box and the smallest (x, y) coordinates
# for the end of the bounding box
#计算两个box的重叠区域，x1和y1取两box间大的， x2和y2取两box间小的
xx1 = np.maximum(x1[i], x1[idxs[:last]])#np.maximum(x,y) X与Y逐位比较取其大者
yy1 = np.maximum(y1[i], y1[idxs[:last]])
xx2 = np.minimum(x2[i], x2[idxs[:last]])#取其小者
yy2 = np.minimum(y2[i], y2[idxs[:last]])
# compute the width and height of the bounding box
w = np.maximum(0, xx2 - xx1 + 1)#无重叠区域(负值)置为0
h = np.maximum(0, yy2 - yy1 + 1)
# compute the ratio of overlap
overlap = (w * h) / area[idxs[:last]]
# delete all indexes from the index list that have
#删除得分最高的box及overlap大于阈值的box，剩余的box继续进行上述过程
idxs = np.delete(idxs, np.concatenate(([last],np.where(overlap > overlapThresh)[0])))
#numpy.where(condition, [x, y])#当conditon的某个位置的为true时，输出x的对应位置的元素，否则选择y对应位置的元素；如果只有参数condition，则函数返回为true的元素的坐标位置信息
#np.concatenate((a,b,c),axis=0) 0按行拼接 1按列拼接
#例np.delete(x,[1,4],axis=0)删除x的1、4行 axis=1 删除1、4列
# return only the bounding boxes that were picked using the
# integer data type
return boxes[pick].astype("int")
detector.py
import cv2
import numpy as np
datapath = "CarData/TrainImages"
SAMPLES = 129
def path(cls,i):
return "%s/%s%d.pgm" % (datapath,cls,i+1)
def get_flann_matcher():
flann_params = dict(algorithm = 1, trees = 5)
return cv2.FlannBasedMatcher(flann_params, {})
def get_bow_extractor(extract, match):
return cv2.BOWImgDescriptorExtractor(extract, match)
def get_extract_detect():
return cv2.xfeatures2d.SIFT_create(), cv2.xfeatures2d.SIFT_create()
def extract_sift(fn, extractor, detector):
im = cv2.imread(fn,0)
return extractor.compute(im, detector.detect(im))[1]
def bow_features(img, extractor_bow, detector):
return extractor_bow.compute(img, detector.detect(img))
def car_detector():
pos, neg = "pos-", "neg-"
detect, extract = get_extract_detect()
matcher = get_flann_matcher()
#extract_bow = get_bow_extractor(extract, matcher)
print "building BOWKMeansTrainer..."
bow_kmeans_trainer = cv2.BOWKMeansTrainer(12)
extract_bow = cv2.BOWImgDescriptorExtractor(extract, matcher)
print "adding features to trainer"
for i in range(SAMPLES):
print i
bow_kmeans_trainer.add(extract_sift(path(pos,i), extract, detect))
bow_kmeans_trainer.add(extract_sift(path(neg,i), extract, detect))
vocabulary = bow_kmeans_trainer.cluster()
extract_bow.setVocabulary(vocabulary)
traindata, trainlabels = [],[]
print "adding to train data"
for i in range(SAMPLES):
print i
traindata.extend(bow_features(cv2.imread(path(pos, i), 0), extract_bow, detect))
trainlabels.append(1)
traindata.extend(bow_features(cv2.imread(path(neg, i), 0), extract_bow, detect))
trainlabels.append(-1)
svm = cv2.ml.SVM_create()
svm.setType(cv2.ml.SVM_C_SVC)
svm.setGamma(1)
svm.setC(35)
svm.setKernel(cv2.ml.SVM_RBF)
svm.train(np.array(traindata), cv2.ml.ROW_SAMPLE, np.array(trainlabels))
return svm, extract_bow
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