Commit 030b4fff authored by jlaura's avatar jlaura Committed by GitHub
Browse files

Fixes both template and phase matchers (#414) 

* Fixes both template and phase matchers

* Fixes tests for correct shifts

* Missed line test
parent da6d4983

autocnet/matcher/naive_template.py

+5 −1
Original line number Diff line number Diff line
@@ -44,8 +44,12 @@ def pattern_match(template, image, upsampling=16, func=cv2.TM_CCORR_NORMED, erro 
        raise ValueError



    # Fit a 3rd order polynomial to upsample the images

    if upsampling != 1:

        u_template = zoom(template, upsampling, order=3)

        u_image = zoom(image, upsampling, order=3)

    else:

        u_template = template

        u_image = image



    result = cv2.matchTemplate(u_image, u_template, method=func)

    _, max_corr, min_loc, max_loc = cv2.minMaxLoc(result)
@@ -64,5 +68,5 @@ def pattern_match(template, image, upsampling=16, func=cv2.TM_CCORR_NORMED, erro 
    x += (u_template.shape[1] / 2)



    x = (x - ideal_x) / upsampling

    y = (ideal_y - y) / upsampling

    y = (y - ideal_y) / upsampling

    return x, y, max_corr

autocnet/matcher/subpixel.py

+2 −2
Original line number Diff line number Diff line
@@ -360,8 +360,8 @@ def iterative_phase(sx, sy, dx, dy, s_img, d_img, size=251, reduction=11, conver 
        except:

            return None, None, None

        # Apply the shift to d_search and compute the new correspondence location

        dx += (shift_x + dxr)

        dy += (shift_y + dyr)

        dx += shift_x  # The implementation already applies the dxr, dyr shifts

        dy += shift_y 



        # Break if the solution has converged

        size = (size[0] - reduction, size[1] - reduction)

autocnet/matcher/tests/test_naive_template.py

+4 −4
Original line number Diff line number Diff line
@@ -49,7 +49,7 @@ class TestNaiveTemplate(unittest.TestCase): 
                                                                           self._test_image, upsampling=1)

        # Test offsets

        self.assertEqual(result_x, -3)

        self.assertEqual(result_y, 3)

        self.assertEqual(result_y, -3)

        # Test Correlation Strength: At least 0.8

        self.assertGreaterEqual(result_strength, 0.8, "Returned Correlation Strength of %d" % result_strength)
@@ -58,7 +58,7 @@ class TestNaiveTemplate(unittest.TestCase): 
                                                                           self._test_image, upsampling=1)

        # Test offsets

        self.assertEqual(result_x, 3)

        self.assertEqual(result_y, -4)

        self.assertEqual(result_y, 4)

        # Test Correlation Strength: At least 0.8

        self.assertGreaterEqual(result_strength, 0.8, "Returned Correlation Strength of %d" % result_strength)
@@ -67,7 +67,7 @@ class TestNaiveTemplate(unittest.TestCase): 
                                                                           self._test_image, upsampling=1)

        # Test offsets

        self.assertEqual(result_x, -2)

        self.assertEqual(result_y, -4)

        self.assertEqual(result_y, 4)

        # Test Correlation Strength: At least 0.8

        self.assertGreaterEqual(result_strength, 0.8, "Returned Correlation Strength of %d" % result_strength)
@@ -76,7 +76,7 @@ class TestNaiveTemplate(unittest.TestCase): 
                                                                           self._test_image, upsampling=1)

        # Test offsets

        self.assertEqual(result_x, 3)

        self.assertEqual(result_y, 5)

        self.assertEqual(result_y, -5)

        # Test Correlation Strength: At least 0.8

        self.assertGreaterEqual(result_strength, 0.8, "Returned Correlation Strength of %d" % result_strength)

autocnet/matcher/tests/test_subpixel.py

+1 −1
Original line number Diff line number Diff line
@@ -67,7 +67,7 @@ def test_subpixel_template(apollo_subsets): 
    

    assert strength >= 0.99

    assert nx == 50.9375

    assert ny == 48.9375

    assert ny == 53.0625



@pytest.mark.parametrize("convergence_threshold, expected", [(1.0, (None, None, None)),

                                                             (2.0, (50.49, 52.44, (0.039507, -9.5e-20)))])