特征点提取算法对比

一. ORB特征点

python实现：
 

import time
import cv2
import numpy as np
from models.matching import Matching
from models.utils import (AverageTimer, VideoStreamer,
                          make_matching_plot_fast, frame2tensor)
import torch


video = cv2.VideoCapture(0)
fps = video.get(cv2.CAP_PROP_FPS)
print("相机的FPS:{}".format(fps))
size = (int(video.get(cv2.CAP_PROP_FRAME_WIDTH)), int(video.get(cv2.CAP_PROP_FRAME_HEIGHT)))
print("相机:{}x{}".format(size[0], size[1]))
r = 5

class OrbExtractor(object):
    def __init__(self, timer):
        self.timer = timer

    def work(self, img):
        gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
        orb = cv2.ORB_create()
        keys, desps = orb.detectAndCompute(gray, None)
        self.timer.end()

        orb_frame = self.draw(img, keys, r, self.timer.start_value, self.timer.end_value)

        return orb_frame

    def draw(self, orb_frame, keypoints, r, start, end):
        for keypoint in keypoints:
            pt1 = tuple([int(value - r) for value in keypoint.pt])
            pt2 = tuple([int(value + r) for value in keypoint.pt])
            cv2.rectangle(orb_frame, pt1, pt2, color=(0, 255, 0))
            pt = tuple(map(int, keypoint.pt))
            cv2.circle(orb_frame, pt, 2, color=(0, 255, 0), thickness=-1)

        cv2.putText(orb_frame, "features:{}".format(len(keypoints)),
                    (0, size[1] - 50), fontFace=cv2.FONT_HERSHEY_SIMPLEX, fontScale=1, color=(255, 255, 255))
        cv2.putText(orb_frame, "fps:{}".format(int(1 / (end - start))),
                    (0, size[1] - 5), fontFace=cv2.FONT_HERSHEY_SIMPLEX, fontScale=1, color=(255, 255, 255))
        cv2.imshow("orb", orb_frame)

        return orb_frame

class SuperPointsExtractor(object):
    def __init__(self, timer):
        self.timer = timer
        self.device = 'cuda' if torch.cuda.is_available() else 'cpu'
        config = {
            'superpoint': {
                'nms_radius': 4,
                'keypoint_threshold': 0.005,
                'max_keypoints': -1
            },
            'superglue': {
                'weights': 'indoor',
                'sinkhorn_iterations': 20,
                'match_threshold': 0.2,
            }
        }
        self._model = Matching(config).eval().to(self.device)
        self.keys = ['keypoints', 'scores', 'descriptors']

    def work(self, frame):
        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
        frame_tensor = frame2tensor(gray, self.device)
        last_data = self._model.superpoint({'image': frame_tensor})
        last_data = {k + '0': last_data[k] for k in self.keys}
        last_data['image0'] = frame_tensor
        self.timer.end()
        old_frame = self.draw(frame, last_data, r, self.timer.start_value, self.timer.end_value)

        cv2.imshow("superpoint", old_frame)

        return old_frame

    def draw(self, old_frame, keypoints, r, start, end):
        keypoints_list = keypoints['keypoints0'][0].tolist()
        for keypoint in keypoints_list:
            pt1 = tuple([int(value - r) for value in keypoint])
            pt2 = tuple([int(value + r) for value in keypoint])
            cv2.rectangle(old_frame, pt1, pt2, color=(0, 255, 0))
            pt = tuple(map(int, keypoint))
            cv2.circle(old_frame, pt, 2, color=(0, 255, 0), thickness=-1)

        cv2.putText(old_frame, "features:{}".format(len(keypoints_list)),
                    (0, size[1] - 50), fontFace=cv2.FONT_HERSHEY_SIMPLEX, fontScale=1, color=(255, 255, 255))
        cv2.putText(old_frame, "fps:{}".format(int(1 / (end - start))),
                    (0, size[1] - 5), fontFace=cv2.FONT_HERSHEY_SIMPLEX, fontScale=1, color=(255, 255, 255))

        return old_frame

class Timer(object):
    def __init__(self):
        self.start_value = 0
        self.end_value = 0

    def start(self):
        self.start_value = time.time()
        return self.start

    def end(self):
        self.end_value = time.time()
        return self.end





def run():
    timer = Timer()
    orb = OrbExtractor(timer)
    super = SuperPointsExtractor(timer)

    cv2.namedWindow("orb", cv2.WINDOW_NORMAL)
    cv2.namedWindow("superpoint", cv2.WINDOW_NORMAL)

    while True:
        timer.start()
        ret, frame = video.read()

        #   orb特征提取
        orb_frame = frame.copy()
        orb_frame = orb.work(orb_frame)

        superpoint_frame = frame.copy()
        super.work(superpoint_frame)

        cv2.waitKey(3)



if __name__ == "__main__":
    run()

原理参考：

[1]. （四十二）特征点检测-ORB - 知乎

[2]. 定位关键点ORB_create()函数解析_Bug刺客的博客-CSDN博客_orb_create

[3]. ORB 特征提取算法（实践篇一） - Alex777 - 博客园

[4].(1条消息) 【OpenCV】cv2.putText()函数用法_零碎@流年絮语的博客-CSDN博客_cv2.puttext

[5]. (1条消息) python+OpenCV图像处理（一）读取、复制、显示、保存_Jumping boy的博客-CSDN博客_img.copy()