robokudo.annotators.sift_annotator
==================================

.. py:module:: robokudo.annotators.sift_annotator


Classes
-------

.. autoapisummary::

   robokudo.annotators.sift_annotator.SIFTAnnotator


Module Contents
---------------

.. py:class:: SIFTAnnotator(name: str = 'SIFTAnnotator')

   Bases: :py:obj:`robokudo.annotators.core.ThreadedAnnotator`


   Annotator for SIFT feature extraction and matching using OpenCV.


   .. py:attribute:: _sift
      :type:  cv2.SIFT

      SIFT feature extractor.



   .. py:method:: compute() -> py_trees.common.Status

      Compute the SIFT features of the current image and match them to the last image.

      :return: The status of the computation.



   .. py:method:: _draw_visualization(color_image: numpy.typing.NDArray[numpy.uint8], vis_image: numpy.typing.NDArray[numpy.uint8], current_kp: typing_extensions.Sequence[cv2.KeyPoint]) -> numpy.typing.NDArray[numpy.uint8]

      Add visualizations to the image.

      :param color_image: The current color image.
      :param vis_image: The image to add visualizations to.
      :param current_kp: The keypoints from the current image.
      :return: The image with visualizations.



   .. py:method:: _keypoints_to_point_cloud(keypoints: typing_extensions.List[cv2.KeyPoint], depth_image: numpy.typing.NDArray, intrinsics: open3d.camera.PinholeCameraIntrinsic, depth_ratio: typing_extensions.Tuple[float, float] = (1.0, 1.0), depth_scale: float = 1000.0, max_depth: float = 3.0) -> open3d.geometry.PointCloud

      Project the keypoints to a 3D point cloud.

      :param keypoints: The keypoints to project to 3D.
      :param depth_image: The depth image used for projection.
      :param intrinsics: The camera intrinsics used for projection.
      :param depth_ratio: The ratio of the depth image to the color image.
      :param depth_scale: The depth scale of the depth image.
      :param max_depth: The maximum depth to project.
      :return: The 3D point cloud.



   .. py:method:: _keypoint_colors(keypoints: typing_extensions.List[cv2.KeyPoint], responses: numpy.typing.NDArray) -> numpy.typing.NDArray[numpy.float64]
      :staticmethod:


      Get rgb colors for keypoints based on their responses and angles.

      :param keypoints: The keypoints.
      :param responses: The keypoints responses.
      :return: The rgb colors.