test_orb.py

import numpy as np
from skimage import data
from skimage import transform as tf
from skimage.feature import pairwise_hamming_distance, brief, match_keypoints_brief, corner_harris, corner_peaks, keypoints_orb, descriptor_orb
from skimage.color import rgb2gray
from skimage import img_as_float
import matplotlib.pyplot as plt

rotate = np.pi/2
translate = (512, 0)
scaling = (1, 1)

img_color = data.lena()
tform = tf.AffineTransform(scale = scaling, rotation=rotate, translation=translate)
transformed_img_color = tf.warp(img_color, tform)
img = rgb2gray(img_color)
transformed_img = rgb2gray(transformed_img_color)

#plt.gray()
#plt.imshow(transformed_img)
#plt.show()

keypoints1, orientations1, scales1 = keypoints_orb(img, n_keypoints=250)
keypoints1.shape
descriptors1, keypoints1 = descriptor_orb(img, keypoints1, orientations1, scales1)
keypoints1.shape
descriptors1.shape

keypoints2, orientations2, scales2 = keypoints_orb(transformed_img, n_keypoints=250)
keypoints2.shape
descriptors2, keypoints2 = descriptor_orb(transformed_img, keypoints2, orientations2, scales2)
keypoints2.shape
descriptors2.shape

pairwise_hamming_distance(descriptors1, descriptors2)
matched_keypoints = match_keypoints_brief(keypoints1, descriptors1, keypoints2, descriptors2, threshold=0.3)

print "Pairs of matched keypoints :\n"
print matched_keypoints
matched_keypoints.shape