updated bfMatcher

ObjectDetection/ORB_detector.py

@@ -0,0 +1,37 @@
+import cv2
+import numpy as np
+cv2.ocl.setUseOpenCL(False)
+
+class od_ORB(object):
+	"""
+    Object Detection using ORB (Oriented FAST and Rotated BRIEF)
+	"""
+	def __init__(self, original_image, template):
+		self.original_image = original_image
+		self.template = template
+
+	def detector(self):
+		'''
+		Compares original image with template and finds
+		number of ORB matches
+		'''	
+		img = cv2.cvtColor(self.original_image, cv2.COLOR_BGR2GRAY)
+		tem = self.template
+
+		# SIFT detector - 1000 keypoints, scale 1.2
+		orb = cv2.ORB_create(1000, 1.2)
+
+		# get keypoints and discriptors (k,d) using sift
+		k1, d1 = orb.detectAndCompute(img, None)
+		k2, d2 = orb.detectAndCompute(tem, None)
+
+		# Defining matcher for ORB
+		matcher = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck = True)
+
+		# getting all matches 
+		matches = matcher.match(d1, d2)
+
+		# Save all matches - sort in ascending order
+		matches = sorted(matches, key=lambda val: val.distance)
+
+		return len(matches)