Add initial implementation of VisualOdometry class and .gitignore file

visualOdometry.py

@@ -0,0 +1,161 @@
+from typing import Optional, Sequence
+
+import cv2
+import numpy as np
+from matplotlib import pyplot as plt
+
+
+class VisualOdometry:
+
+    def __init__(self,
+                 K: np.ndarray,
+                 index_params: dict[str, int] = {"algorithm": 1, "trees": 5},
+                 search_params: dict[str, int] = {"checks": 50}):
+        """ Constructor
+
+        Args:
+            K (np.ndarray): Camera Intrinsics Model
+            index_params (dict[str, int], optional): Index parameters for FLANN. Defaults to {"algorithm": 1, "trees": 5}.
+            search_params (dict[str, int], optional): Search parameters for FLANN. Defaults to {"checks": 50}.
+        """
+        self.K = K
+        # pyright: ignore[reportAttributeAccessIssue]
+        self.sift = cv2.SIFT_create()
+        self.flann = cv2.FlannBasedMatcher(
+            indexParams=index_params, searchParams=search_params)  # pyright: ignore[reportArgumentType]
+
+    def extract_keypoints(self, img: cv2.typing.MatLike) -> tuple[list[cv2.KeyPoint], np.ndarray]:
+        """ Detects keypoints in an image
+
+        Args:
+            img (cv2.typing.MatLike): _description_
+
+        Returns:
+            kp (list[cv2.KeyPoint]): list of keypoints
+            desc (np.ndarray): descriptor of the keypoints
+        """
+        return self.sift.detectAndCompute(img, None)
+
+    def match_keypoints(self,
+                        desc1: np.ndarray,
+                        desc2: np.ndarray,
+                        k: int = 2) -> Sequence[Sequence[cv2.DMatch]]:
+        """ Matches keypoints
+
+        Args:
+            desc1 (np.ndarray): image 1 keypoint description
+            desc2 (np.ndarray): image 2 keypoint description
+            k (int, optional): Defaults to 2.
+
+        Returns:
+            Sequence[Sequence[cv2.DMatch]]: sequence of matches
+        """
+
+        return self.flann.knnMatch(desc1, desc2, k=k)
+
+    def filter_matches(self, matches: Sequence[Sequence[cv2.DMatch]], distance_threshold: float = 0.7) -> list[cv2.DMatch]:
+        """ Filters out good keypoint matches
+
+        Args:
+            matches (Sequence[Sequence[cv2.DMatch]]): list of keypoint matches
+            distance_threshold (float, optional): distance percent threshold for filtering. Defaults to 0.7.
+
+        Returns:
+            list[cv2.DMatch]: list of good matches
+        """
+        return [m for m, n in matches if m.distance < distance_threshold * n.distance]
+
+    def estimate_motion(self, kp1: list[cv2.KeyPoint], kp2: list[cv2.KeyPoint], matches: list[cv2.DMatch]):
+        """ Estimates the motion between two images
+
+        Args:
+            kp1 (list[cv2.KeyPoint]): first image keypoints
+            kp2 (list[cv2.KeyPoint]): second image keypoints
+            matches (list[cv2.DMatch]): list of keypoint matches
+        Returns:
+            TODO: Add returns
+        """
+
+    def draw_keypoint_matches(self,
+                              img1: cv2.typing.MatLike,
+                              kp1: list[cv2.KeyPoint],
+                              img2: cv2.typing.MatLike,
+                              kp2: list[cv2.KeyPoint],
+                              matches: list[cv2.DMatch],
+                              output_image: Optional[cv2.typing.MatLike] = None) -> cv2.typing.MatLike:
+        """ Generates an image drawing the keypoint matches between two images in the image
+
+        Args:
+            img1 (cv2.typing.MatLike): first image
+            kp1 (list[cv2.KeyPoint]): first image keypoints
+            img2 (cv2.typing.MatLike): second image
+            kp2 (list[cv2.KeyPoint]): second image keypoints
+            matches (list[cv2.DMatch]): list of matches accepted
+            output_image (Optional[cv2.typing.MatLike], optional): output image buffer. If None or omitted, a new one will be created.
+
+        Returns:
+            cv2.typing.MatLike: _description_
+        """
+
+        # Draw matches
+        # pyright: ignore[reportArgumentType, reportCallIssue]
+        return cv2.drawMatches(img1, kp1, img2, kp2, matches, output_image, flags=cv2.DrawMatchesFlags_NOT_DRAW_SINGLE_POINTS)
+
+    @staticmethod
+    def show_keypoint_matches(match_image: cv2.typing.MatLike) -> None:
+        """ Show image matches
+
+        Args:
+            match_image (cv2.typing.MatLike): match image
+        """
+        plt.figure(figsize=(15, 10))
+        plt.imshow(match_image, cmap='gray')
+        plt.title('Matched Keypoints Between Two Images')
+        plt.axis('off')
+        plt.show()
+
+
+def main():
+    # Set Camera Intrinsics
+    K = np.array(
+        [[1389.2414846481593, 0, 962.3421649150145],
+         [0, 1389.2414846481593, 605.814069325842],
+         [0, 0, 1]],
+        dtype=np.float64)
+
+    # Set Image Paths
+    img1_path = ".\\train1\\3d20ae25-5b29-320d-8bae-f03e9dc177b9\\ring_front_center\\ring_front_center_315975023006264672.jpg"
+    img2_path = ".\\train1\\3d20ae25-5b29-320d-8bae-f03e9dc177b9\\ring_front_center\\ring_front_center_315975023039564872.jpg"
+
+    # Load images
+    img1 = cv2.imread(img1_path)
+    img2 = cv2.imread(img2_path)
+
+    if img1 is None:
+        raise RuntimeError(f"Could not open or find the image {img1_path}")
+
+    if img2 is None:
+        raise RuntimeError(f"Could not open or find the image {img2_path}")
+
+    # Create an instance of the VisualOdometry class
+    vo = VisualOdometry(K=K)
+
+    # Extract Keypoints
+    kp1, desc1 = vo.extract_keypoints(img1)
+    kp2, desc2 = vo.extract_keypoints(img2)
+
+    # Match Keypoints
+    matches = vo.match_keypoints(desc1, desc2)
+
+    # Filter Keypoints
+    good_matches = vo.filter_matches(matches)
+
+    # Draw matches
+    img_matches = vo.draw_keypoint_matches(img1, kp1, img2, kp2, good_matches)
+
+    # Show Matches
+    VisualOdometry.show_keypoint_matches(img_matches)
+
+
+if __name__ == '__main__':
+    main()