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https://github.com/openmv/openmv.git
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122 lines
3.8 KiB
Python
Executable File
122 lines
3.8 KiB
Python
Executable File
#!/usr/bin/env python2
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import time
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import struct
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import pygame
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import sys, os
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from math import sin, cos, radians
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SCALE = 3
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RED = (255,0,0)
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GREEN = (0,255,0)
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WHITE = (255,255,255)
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GRAY = (127, 127, 127)
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KEYPOINTS_SIZE = 24
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def load_keypoints(path):
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kpts = []
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max_octave = 0
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with open(path, "rb") as f:
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desc = struct.unpack("<I", f.read(4))[0]
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size = struct.unpack("<I", f.read(4))[0]
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for i in range(0, size):
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x, y, score, octave, angle = struct.unpack("<HHHHH", f.read(10))
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kpts.append([x, y, score, octave, angle, False, f.read(32)])
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if (octave > max_octave):
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max_octave = octave
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print("size: %d max octave: %d" %(len(kpts), max_octave))
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return (kpts, max_octave)
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if __name__ == '__main__':
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if len(sys.argv)!= 2:
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print "usage: kpts_editor.py [descriptor]"
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sys.exit(1)
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selection = False
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save_selected = False
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rect = pygame.Rect(0, 0, 0, 0)
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clock = pygame.time.Clock()
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desc_path = sys.argv[1]
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img_path = os.path.splitext(desc_path)[0] + '.pgm'
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desc_out = os.path.splitext(desc_path)[0] + '_out.orb'
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kpts, max_octave = load_keypoints(desc_path)
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curr_octave = max_octave
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img = pygame.image.load(img_path)
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img = pygame.transform.scale(img, (img.get_width()*SCALE, img.get_height()*SCALE))
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screen = pygame.display.set_mode((img.get_width(), img.get_height()))
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pygame.mouse.set_visible(True)
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while True:
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msElapsed = clock.tick(60)
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event = pygame.event.poll()
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if event.type == pygame.QUIT:
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break
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elif event.type == pygame.KEYDOWN:
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if event.key == pygame.K_s:
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save_selected = True
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elif event.key == pygame.K_1:
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if (curr_octave > 1):
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curr_octave = curr_octave - 1
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elif event.key == pygame.K_2:
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if (curr_octave < max_octave):
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curr_octave = curr_octave + 1
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elif event.type == pygame.MOUSEBUTTONDOWN:
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selection = True
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rect = pygame.Rect(0, 0, 0, 0)
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rect.x, rect.y = pygame.mouse.get_pos()
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elif event.type == pygame.MOUSEMOTION:
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if (selection):
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rect.w, rect.h = pygame.mouse.get_pos()
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rect.w -= rect.x
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rect.h -= rect.y
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elif event.type == pygame.MOUSEBUTTONUP:
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if (selection):
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selection = False
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rect.w, rect.h = pygame.mouse.get_pos()
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rect.w -= rect.x
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rect.h -= rect.y
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screen.blit(img,(0,0))
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if selection == True:
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pygame.draw.rect(screen, RED, rect, 1)
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for kp in kpts:
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x, y, score, octave, angle, selected, desc = kp
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if (octave > curr_octave):
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continue
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x1 = x*SCALE
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y1 = y*SCALE
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angle = radians(angle)
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size = KEYPOINTS_SIZE/octave
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x2 = x1 + sin(angle) * size
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y2 = y1 + cos(angle) * size
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kp[5] = selected = rect.collidepoint((x1, y1))
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color = GREEN if selected else WHITE
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pygame.draw.circle(screen, color, (x1, y1), size, 1)
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pygame.draw.line(screen, color, (x1, y1), (x2, y2))
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if save_selected == True:
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kpts_sel = []
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for kp in kpts:
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if (kp[5]): kpts_sel.append(kp)
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with open(desc_out, "wb") as f:
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f.write(struct.pack("<I", 1))
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f.write(struct.pack("<I", len(kpts_sel)))
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for kp in kpts_sel:
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x, y, score, octave, angle, selected, desc = kp
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f.write(struct.pack("<HHHHH", x, y, score, octave, angle))
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f.write(desc)
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break
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pygame.display.update()
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pygame.quit()
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