Do SIFT and send out the results
Don't yet have the math for calculating poses based on these results.
Change-Id: I6494dbf1d3a7c13db902cf00b7c362a2a956691b
diff --git a/y2020/vision/sift/BUILD b/y2020/vision/sift/BUILD
index b4610d7..5cfb6aa 100644
--- a/y2020/vision/sift/BUILD
+++ b/y2020/vision/sift/BUILD
@@ -220,3 +220,40 @@
includes = [":sift_fbs_includes"],
visibility = ["//visibility:public"],
)
+
+py_binary(
+ name = "demo_sift_training",
+ srcs = ["demo_sift_training.py"],
+ default_python_version = "PY3",
+ srcs_version = "PY2AND3",
+ deps = [
+ ":sift_fbs_python",
+ "@opencv_contrib_nonfree_amd64//:python_opencv",
+ ],
+)
+
+genrule(
+ name = "run_demo_sift_training",
+ srcs = [
+ "images/demo/FRC-Image4-cleaned.png",
+ ],
+ outs = [
+ "demo_sift.h",
+ ],
+ cmd = " ".join([
+ "$(location :demo_sift_training)",
+ "$(location images/demo/FRC-Image4-cleaned.png)",
+ "$(location demo_sift.h)",
+ ]),
+ tools = [
+ ":demo_sift_training",
+ ],
+)
+
+cc_library(
+ name = "demo_sift",
+ hdrs = [
+ "demo_sift.h",
+ ],
+ visibility = ["//visibility:public"],
+)
diff --git a/y2020/vision/sift/demo_sift_training.py b/y2020/vision/sift/demo_sift_training.py
new file mode 100644
index 0000000..a6650fd
--- /dev/null
+++ b/y2020/vision/sift/demo_sift_training.py
@@ -0,0 +1,93 @@
+#!/usr/bin/python3
+
+import cv2
+import sys
+import flatbuffers
+
+import frc971.vision.sift.TrainingImage as TrainingImage
+import frc971.vision.sift.TrainingData as TrainingData
+import frc971.vision.sift.Feature as Feature
+
+def main():
+ image4_cleaned_path = sys.argv[1]
+ output_path = sys.argv[2]
+
+ image4_cleaned = cv2.imread(image4_cleaned_path)
+
+ image = cv2.cvtColor(image4_cleaned, cv2.COLOR_BGR2GRAY)
+ image = cv2.resize(image, (640, 480))
+ sift = cv2.xfeatures2d.SIFT_create()
+ keypoints, descriptors = sift.detectAndCompute(image, None)
+
+ fbb = flatbuffers.Builder(0)
+
+ features_vector = []
+
+ for keypoint, descriptor in zip(keypoints, descriptors):
+ Feature.FeatureStartDescriptorVector(fbb, len(descriptor))
+ for n in reversed(descriptor):
+ fbb.PrependFloat32(n)
+ descriptor_vector = fbb.EndVector(len(descriptor))
+
+ Feature.FeatureStart(fbb)
+
+ Feature.FeatureAddDescriptor(fbb, descriptor_vector)
+ Feature.FeatureAddX(fbb, keypoint.pt[0])
+ Feature.FeatureAddY(fbb, keypoint.pt[1])
+ Feature.FeatureAddSize(fbb, keypoint.size)
+ Feature.FeatureAddAngle(fbb, keypoint.angle)
+ Feature.FeatureAddResponse(fbb, keypoint.response)
+ Feature.FeatureAddOctave(fbb, keypoint.octave)
+
+ features_vector.append(Feature.FeatureEnd(fbb))
+
+ TrainingImage.TrainingImageStartFeaturesVector(fbb, len(features_vector))
+ for feature in reversed(features_vector):
+ fbb.PrependUOffsetTRelative(feature)
+ features_vector_table = fbb.EndVector(len(features_vector))
+
+ TrainingImage.TrainingImageStart(fbb)
+ TrainingImage.TrainingImageAddFeatures(fbb, features_vector_table)
+ # TODO(Brian): Fill out the transformation matrices.
+ training_image = TrainingImage.TrainingImageEnd(fbb)
+
+ TrainingData.TrainingDataStartImagesVector(fbb, 1)
+ fbb.PrependUOffsetTRelative(training_image)
+ images = fbb.EndVector(1)
+
+ TrainingData.TrainingDataStart(fbb)
+ TrainingData.TrainingDataAddImages(fbb, images)
+ fbb.Finish(TrainingData.TrainingDataEnd(fbb))
+
+ bfbs = fbb.Output()
+
+ output_prefix = [
+ b'#ifndef Y2020_VISION_SIFT_DEMO_SIFT_H_',
+ b'#define Y2020_VISION_SIFT_DEMO_SIFT_H_',
+ b'#include <string_view>',
+ b'namespace frc971 {',
+ b'namespace vision {',
+ b'inline std::string_view DemoSiftData() {',
+ ]
+ output_suffix = [
+ b' return std::string_view(kData, sizeof(kData));',
+ b'}',
+ b'} // namespace vision',
+ b'} // namespace frc971',
+ b'#endif // Y2020_VISION_SIFT_DEMO_SIFT_H_',
+ ]
+
+ with open(output_path, 'wb') as output:
+ for line in output_prefix:
+ output.write(line)
+ output.write(b'\n')
+ output.write(b'alignas(64) static constexpr char kData[] = "')
+ for byte in fbb.Output():
+ output.write(b'\\x' + (b'%x' % byte).zfill(2))
+ output.write(b'";\n')
+ for line in output_suffix:
+ output.write(line)
+ output.write(b'\n')
+
+if __name__ == '__main__':
+ main()
diff --git a/y2020/vision/sift/images/demo/FRC-Image4-cleaned.png b/y2020/vision/sift/images/demo/FRC-Image4-cleaned.png
new file mode 100644
index 0000000..9d2f0bf
--- /dev/null
+++ b/y2020/vision/sift/images/demo/FRC-Image4-cleaned.png
Binary files differ
diff --git a/y2020/vision/sift/sift.fbs b/y2020/vision/sift/sift.fbs
index 84697de..5a1384e 100644
--- a/y2020/vision/sift/sift.fbs
+++ b/y2020/vision/sift/sift.fbs
@@ -82,6 +82,9 @@
// The features for this image.
features:[Feature];
+
+ // Timestamp when the frame was captured.
+ image_monotonic_timestamp_ns:long;
}
root_type ImageMatchResult;
