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使用GoodFeaturesToTrack进行关键点检测---29
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关键点：是多个方向上亮度变化强的区域。
opencv:版本是2.4.
侦测器：opencv有大量的关键点侦测器，我们本次采用goodFeaturesToTrack()。
相应的启动文件为：good_features.launch
侦测器返回的关键点变量：
maxCorners : 设置最多返回的关键点数量。
qualityLevel : 反应一个像素点强度有多强才能成为关键点。
minDistance : 关键点之间的最少像素点。
blockSize : 计算一个像素点是否为关键点时所取的区域大小。
useHarrisDetector :使用原声的 Harris 角侦测器或最小特征值标准。
k : 一个用在Harris侦测器中的自由变量。
首先确保你的kinect驱动或者uvc相机驱动能正常启动：（如果你使用的是kinect，请运行openni驱动）
roslaunch openni_launch openni.launch
如果你没有安装kinect深度相机驱动，请看我前面的博文。
然后运行下面的launch文件：
roslaunch rbx1_vision good_features.launch
当视频出现时，通过鼠标画矩形将图像中的某个对象框住。这个矩形表示所选的区域，你会看到这个区域中会出现一些绿色的小圆点，他们是goodFeaturesToTrack()。侦测器在该区域中发现的关键点，
以下是我的运行结果：
下面我们看看代码，主要是good_features.py脚本。
#!/usr/bin/env python """ good_features.py - Version 1.1 2013-12-20
Locate the Good Features To Track in a video stream. Created for the Pi Robot Project: http://www.pirobot.org
Copyright (c) Patrick Goebel. All rights reserved.
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version of the License, or
(at your option) any later version. This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details at: http://www.gnu.org/licenses/gpl.html
""" import rospy
import cv2
import cv2.cv as cv
from rbx1_vision.ros2opencv2 import ROS2OpenCV2
import numpy as np class GoodFeatures(ROS2OpenCV2):
def __init__(self, node_name):
super(GoodFeatures, self).__init__(node_name) # Do we show text on the display?
self.show_text = rospy.get_param("~show_text", True) # How big should the feature points be (in pixels)?
self.feature_size = rospy.get_param("~feature_size", ) # Good features parameters
self.gf_maxCorners = rospy.get_param("~gf_maxCorners", )
self.gf_qualityLevel = rospy.get_param("~gf_qualityLevel", 0.02)
self.gf_minDistance = rospy.get_param("~gf_minDistance", )
self.gf_blockSize = rospy.get_param("~gf_blockSize", )
self.gf_useHarrisDetector = rospy.get_param("~gf_useHarrisDetector", True)
self.gf_k = rospy.get_param("~gf_k", 0.04) # Store all parameters together for passing to the detector
self.gf_params = dict(maxCorners = self.gf_maxCorners,
qualityLevel = self.gf_qualityLevel,
minDistance = self.gf_minDistance,
blockSize = self.gf_blockSize,
useHarrisDetector = self.gf_useHarrisDetector,
k = self.gf_k) # Initialize key variables
self.keypoints = list()
self.detect_box = None
self.mask = None def process_image(self, cv_image):
try:
# If the user has not selected a region, just return the image
if not self.detect_box:
return cv_image # Create a greyscale version of the image
grey = cv2.cvtColor(cv_image, cv2.COLOR_BGR2GRAY) # Equalize the histogram to reduce lighting effects
grey = cv2.equalizeHist(grey) # Get the good feature keypoints in the selected region
keypoints = self.get_keypoints(grey, self.detect_box) # If we have points, display them
if keypoints is not None and len(keypoints) > :
for x, y in keypoints:
cv2.circle(self.marker_image, (x, y), self.feature_size, (, , , ), cv.CV_FILLED, , ) # Process any special keyboard commands
if self.keystroke != -:
try:
cc = chr(self.keystroke & ).lower()
if cc == 'c':
# Clear the current keypoints
keypoints = list()
self.detect_box = None
except:
pass
except:
pass return cv_image def get_keypoints(self, input_image, detect_box):
# Initialize the mask with all black pixels
self.mask = np.zeros_like(input_image) # Get the coordinates and dimensions of the detect_box
try:
x, y, w, h = detect_box
except:
return None # Set the selected rectangle within the mask to white
self.mask[y:y+h, x:x+w] = # Compute the good feature keypoints within the selected region
keypoints = list()
kp = cv2.goodFeaturesToTrack(input_image, mask = self.mask, **self.gf_params)
if kp is not None and len(kp) > :
for x, y in np.float32(kp).reshape(-, ):
keypoints.append((x, y)) return keypoints if __name__ == '__main__':
try:
node_name = "good_features"
GoodFeatures(node_name)
rospy.spin()
except KeyboardInterrupt:
print "Shutting down the Good Features node."
cv.DestroyAllWindows()
