Merge pull request #207 from jlaura/master (1788194d) · Commits · aflab / astrogeology / Autocnet

autocnet/init.py

+8 −4

Original line number	Diff line number	Diff line
		@@ -11,7 +11,10 @@ import autocnet.graph
		import autocnet.matcher
		import autocnet.transformation
		import autocnet.utils
		import autocnet.utils


		# Patch the candidate graph into the root namespace
		from autocnet.graph.network import CandidateGraph

		__version__ = "0.1.0"

		@@ -39,15 +42,16 @@ def cuda(enable=False, gpu=0):

		from autocnet.matcher.cuda_decompose import decompose_and_match
		Edge.decompose_and_match = decompose_and_match

		except Exception:
		warning.warn('Failed to enable Cuda')
		warnings.warn('Failed to enable Cuda')
		return

		# Here is where the CPU methods get patched into the class
		from autocnet.matcher.feature_extractor import extract_features
		from autocnet.matcher.cpu_extractor import extract_features
		Node._extract_features = staticmethod(extract_features)

		from autocnet.matcher.feature_matcher import match
		from autocnet.matcher.cpu_matcher import match
		Edge.match = match

		from autocnet.matcher.cpu_decompose import decompose_and_match

autocnet/graph/init.py

+3 −0

Original line number	Diff line number	Diff line
		from . import edge
		from . import network
		from . import node

autocnet/graph/edge.py

+104 −124

Original line number	Diff line number	Diff line
		from functools import wraps
		import warnings
		from collections import MutableMapping

		@@ -9,7 +10,7 @@ from scipy.spatial.distance import cdist
		import autocnet
		from autocnet.graph.node import Node
		from autocnet.utils import utils
		from autocnet.matcher import outlier_detector as od
		from autocnet.matcher import cpu_outlier_detector as od
		from autocnet.matcher import suppression_funcs as spf
		from autocnet.matcher import subpixel as sp
		from autocnet.transformation import fundamental_matrix as fm
		@@ -18,6 +19,7 @@ from autocnet.vis.graph_view import plot_edge, plot_node, plot_edge_decompositio
		from autocnet.cg import cg



		class Edge(dict, MutableMapping):
		"""
		Attributes
		@@ -41,8 +43,11 @@ class Edge(dict, MutableMapping):
		self.destination = destination
		self['homography'] = None
		self['fundamental_matrix'] = None
		self.matches = None
		self.matches = pd.DataFrame()
		self.masks = pd.DataFrame()
		self['weights'] = {}
		self['source_mbr'] = None
		self['destin_mbr'] = None

		def __repr__(self):
		return """
		@@ -70,7 +75,7 @@ class Edge(dict, MutableMapping):

		return eq

		@property
		"""@property
		def masks(self):
		mask_lookup = {'fundamental': 'fundamental_matrix'}
		if not hasattr(self, '_masks'):
		@@ -85,10 +90,7 @@ class Edge(dict, MutableMapping):
		def masks(self, v):
		column_name = v[0]
		boolean_mask = v[1]
		self.masks[column_name] = boolean_mask

		def decompose_and_match(args, *kwargs):
		pass
		self.masks[column_name] = boolean_mask"""

		def match(self, k=2, **kwargs):

		@@ -103,25 +105,60 @@ class Edge(dict, MutableMapping):
		----------
		k : int
		The number of neighbors to find

		overlap : boolean
		Apply the matcher only to the overlapping area defined by
		the source_mbr and destin_mbr attributes (stored in the
		edge dict).
		"""
		pass

		def match_overlap(self, k=2, **kwargs):
		"""
		Given two sets of descriptors, apply the matcher with the
		source and destination overlaps.
		"""
		overlaps = [self['source_mbr'], self['destin_mbr']]
		self.match(k=k, overlap=overlaps, **kwargs)

		def decompose(self):
		"""
		Apply coupled decomposition to the images and
		match identified sub-images
		"""
		pass

		def decompose_and_match(args, *kwargs):
		pass

		"""
		def extract_subset(self, args, *kwargs):
		self.compute_overlap()

		# Extract the source
		minx, maxx, miny, maxy = self['source_mbr']
		xystart = (minx, miny)
		pixels=[minx, miny, maxx-minx, maxy-miny]
		node = self.source
		arr = node.geodata.read_array(pixels=pixels)
		node.extract_features(arr, xystart=xystart, args, *kwargs)

		# Extract the destination
		minx, maxx, miny, maxy = self['destin_mbr']
		xystart = (minx, miny)
		pixels=[minx, miny, maxx-minx, maxy-miny]
		node = self.destination
		arr = node.geodata.read_array(pixels=pixels)
		node.extract_features(arr, xystart=xystart, args, *kwargs)
		"""
		def symmetry_check(self):
		if isinstance(self.matches, pd.DataFrame):
		mask = od.mirroring_test(self.matches)
		self.masks = ('symmetry', mask)
		else:
		raise AttributeError('No matches have been computed for this edge.')
		self.masks['symmetry'] = od.mirroring_test(self.matches)

		def ratio_check(self, clean_keys=[], **kwargs):
		if isinstance(self.matches, pd.DataFrame):
		def ratio_check(self, clean_keys=[], maskname='ratio', **kwargs):
		matches, mask = self.clean(clean_keys)
		distance_mask = od.distance_ratio(matches, **kwargs)
		self.masks = ('ratio', distance_mask)
		else:
		raise AttributeError('No matches have been computed for this edge.')
		self.masks[maskname] = od.distance_ratio(matches, **kwargs)

		def compute_fundamental_matrix(self, clean_keys=[], **kwargs):
		def compute_fundamental_matrix(self, clean_keys=[], maskname='fundamental', **kwargs):
		"""
		Estimate the fundamental matrix (F) using the correspondences tagged to this
		edge.
		@@ -141,16 +178,11 @@ class Edge(dict, MutableMapping):
		autocnet.transformation.transformations.FundamentalMatrix

		"""
		if not isinstance(self.matches, pd.DataFrame):
		raise AttributeError('Matches have not been computed for this edge')
		return
		matches, mask = self.clean(clean_keys)

		# TODO: Homogeneous is horribly inefficient here, use Numpy array notation
		s_keypoints = self.source.get_keypoint_coordinates(index=matches['source_idx'],
		homogeneous=True)
		d_keypoints = self.destination.get_keypoint_coordinates(index=matches['destination_idx'],
		homogeneous=True)
		s_keypoints = self.get_keypoints('source', index=matches['source_idx'])
		d_keypoints = self.get_keypoints('destination', index=matches['destination_idx'])


		# Replace the index with the matches index.
		@@ -164,9 +196,42 @@ class Edge(dict, MutableMapping):
		mask[mask] = fmask

		# Set the initial state of the fundamental mask in the masks
		self.masks = ('fundamental', mask)
		self.masks[maskname] = mask

		def get_keypoints(self, node, index=None, homogeneous=True):
		node = getattr(self, node)
		return node.get_keypoint_coordinates(index=index, homogeneous=homogeneous)

		def compute_fundamental_error(self, clean_keys=[]):
		"""
		Given a fundamental matrix, compute the reprojective error between
		a two sets of keypoints.

		Parameters
		----------
		clean_keys : list
		of string keys to masking arrays
		(created by calling outlier detection)

		def compute_homography(self, method='ransac', clean_keys=[], pid=None, **kwargs):
		Returns
		-------
		error : pd.Series
		of reprojective error indexed to the matches data frame
		"""
		if self['fundamental_matrix'] is None:
		warning.warn('No fundamental matrix has been compute for this edge.'
		)
		matches, masks = self.clean(clean_keys)

		source_kps = self.source.get_keypoint_coordinates(index=matches['source_idx'])
		destination_kps = self.destination.get_keypoint_coordinates(index=matches['destination_idx'])

		error = fm.compute_fundamental_error(self['fundamental_matrix'], source_kps, destination_kps)

		error = pd.Series(error, index=matches.index)
		return error

		def compute_homography(self, method='ransac', clean_keys=[], pid=None, maskname='homography', **kwargs):
		"""
		For each edge in the (sub) graph, compute the homography
		Parameters
		@@ -185,12 +250,6 @@ class Edge(dict, MutableMapping):
		mask : ndarray
		Boolean array of the outliers
		"""

		if isinstance(self.matches, pd.DataFrame):
		matches = self.matches
		else:
		raise AttributeError('Matches have not been computed for this edge')

		matches, mask = self.clean(clean_keys)

		s_keypoints = self.source.get_keypoint_coordinates(index=matches['source_idx'])
		@@ -200,7 +259,7 @@ class Edge(dict, MutableMapping):

		# Convert the truncated RANSAC mask back into a full length mask
		mask[mask] = hmask
		self.masks = ('ransac', mask)
		self.masks['homography'] = mask

		def subpixel_register(self, clean_keys=[], threshold=0.8,
		template_size=19, search_size=53, max_x_shift=1.0,
		@@ -278,19 +337,18 @@ class Edge(dict, MutableMapping):
		threshold_mask = self.matches['correlation'] >= threshold

		# Compute the mask for the point shifts that are too large
		query_string = 'x_offset <= -{0} or x_offset >= {0} or y_offset <= -{1} or y_offset >= {1}'.format(max_x_shift,
		max_y_shift)
		query_string = 'x_offset <= -{0} or x_offset >= {0} or y_offset <= -{1} or y_offset >= {1}'.format(max_x_shift,max_y_shift)
		sp_shift_outliers = self.matches.query(query_string)
		shift_mask = pd.Series(True, index=self.matches.index)
		shift_mask.loc[sp_shift_outliers.index] = False

		# Generate the composite mask and write the masks to the mask data structure
		mask = threshold_mask & shift_mask
		self.masks = ('shift', shift_mask)
		self.masks = ('threshold', threshold_mask)
		self.masks = ('subpixel', mask)
		self.masks['shift'] = shift_mask
		self.masks['threshold'] = threshold_mask
		self.masks['subpixel'] = mask

		def suppress(self, suppression_func=spf.correlation, clean_keys=[], **kwargs):
		def suppress(self, suppression_func=spf.correlation, clean_keys=[], maskname='suppression', **kwargs):
		"""
		Apply a disc based suppression algorithm to get a good spatial
		distribution of high quality points, where the user defines some
		@@ -324,7 +382,7 @@ class Edge(dict, MutableMapping):
		smask, k = od.spatial_suppression(merged, domain, **kwargs)

		mask[mask] = smask
		self.masks = ('suppression', mask)
		self.masks[maskname] = mask

		def plot_source(self, ax=None, clean_keys=[], **kwargs): # pragma: no cover
		matches, mask = self.clean(clean_keys=clean_keys)
		@@ -407,9 +465,6 @@ class Edge(dict, MutableMapping):
		returns the overlap area
		covered by the keypoints
		"""
		if not isinstance(self.matches, pd.DataFrame):
		raise AttributeError('Edge needs to have features extracted and matched')
		return
		matches, mask = self.clean(clean_keys)
		source_array = self.source.get_keypoint_coordinates(index=matches['source_idx']).values

		@@ -448,86 +503,11 @@ class Edge(dict, MutableMapping):
		voronoi = cg.vor(self, clean_keys, **kwargs)
		self.matches = pd.concat([self.matches, voronoi[1]['vor_weights']], axis=1)

		def decompose(self, maxiterations=3):
		"""
		Apply coupled decomposition to the images and
		match identified sub-images

		Parameters
		----------
		maxiterations : int
		The number of iterations. Appropriate values:

		\| Number of megapixels \| k \|
		\|----------------------\|---\|
		\| m < 10 \|1-2\|
		\| 10 < m < 30 \| 3 \|
		\| 30 < m < 100 \| 4 \|
		\| 100 < m < 1000 \| 5 \|
		\| m > 1000 \| 6 \|


		def compute_overlap(self, **kwargs):
		"""
		pass

		def get_keypoints(self, node, clean_keys):
		"""

		Returns a list of keypoint coordinates that match the specified
		paramaters

		Parameters
		----------
		node : str or Node
		Can be "source" or "destination" based on which node we're
		pulling keypoint data for; Also can pass Node obj itself

		clean_keys : list
		List of clean key strings

		Return
		------
		masked_keypts : Dataframe
		Dataframe of keypoints that match the specified masks
		on the specified node
		Estimate a source and destination minimum bounding rectangle, in
		pixel space
		"""

		# Assert parameter types are correct
		try:
		assert (isinstance(node, str) or isinstance(node, Node))
		except AssertionError:
		raise TypeError('Parameter "node" must be of type str or type Node')
		try:
		assert isinstance(clean_keys, list)
		except AssertionError:
		raise TypeError('Parameter "clean_keys" must be of type list')

		# If node param is a string, make sure it's one of the right strings
		if isinstance(node, str):
		try:
		assert (node in ["source", "destination"])
		# Define the node if str is passed as param
		if node == "source":
		node = self.source
		elif node == "destination":
		node = self.destination
		except AssertionError:
		raise KeyError('node" parameter must be "source"' +
		'or "destination"')

		# Get cleaned, combined src & dst keypt df for this edge ("matches")
		matches, mask = self.clean(clean_keys)

		# Grab the keypt indices filtered by clean_keys as ints, pandas
		# complains when you use them as indicies if they're not ints
		if node == self.source:
		keypt_indices = matches["source_idx"].astype(int)
		elif node == self.destination:
		keypt_indices = matches["destination_idx"].astype(int)

		# Get all keypts for the specified node
		all_keypts = node.get_keypoints()
		# Return keypts @ masked indecies for the node
		masked_keypts = all_keypts.iloc[keypt_indices].sort_index()

		return masked_keypts
		self.overlap_latlon_coords, self["source_mbr"], self["destin_mbr"] = self.source.geodata.compute_overlap(self.destination.geodata, **kwargs)

autocnet/graph/network.py

+73 −17

Original line number	Diff line number	Diff line
		import itertools
		import math
		import os
		from time import gmtime, strftime
		import warnings
		@@ -15,6 +16,12 @@ from autocnet.graph.node import Node
		from autocnet.io import network as io_network
		from autocnet.vis.graph_view import plot_graph, cluster_plot

		# The total number of pixels squared that can fit into the keys number of GB of RAM for SIFT.
		MAXSIZE = {0:None,
		2:6250,
		4:8840,
		8:12500,
		12:15310}

		class CandidateGraph(nx.Graph):
		"""
		@@ -80,6 +87,20 @@ class CandidateGraph(nx.Graph):
		eq = False
		return eq

		@property
		def maxsize(self):
		if not hasattr(self, '_maxsize'):
		self._maxsize = MAXSIZE[0]
		return self._maxsize

		@maxsize.setter
		def maxsize(self, value):
		if not value in MAXSIZE.keys():
		raise KeyError('Value must be in {}'.format(','.join(map(str,MAXSIZE.keys()))))
		else:
		self._maxsize = MAXSIZE[value]


		@classmethod
		def from_filelist(cls, filelist, basepath=None):
		"""
		@@ -197,25 +218,50 @@ class CandidateGraph(nx.Graph):

		raise NotImplementedError

		def extract_features(self, args, *kwargs):
		def extract_features(self, band=1, args, *kwargs): # pragma: no cover
		"""
		Extracts features from each image in the graph and uses the result to assign the
		node attributes for 'handle', 'image', 'keypoints', and 'descriptors'.
		"""
		for i, node in self.nodes_iter(data=True):
		array = node.geodata.read_array(band=band)
		node.extract_features(array, args, *kwargs),

		def extract_features_with_downsampling(self, downsample_amount=None, args, *kwargs): # pragma: no cover
		"""
		Extract interest points from a downsampled array. The array is downsampled
		by the downsample_amount keyword using the Lanconz downsample amount. If the
		downsample keyword is not supplied, compute a downsampling constant as the
		total array size divided by the network maxsize attribute.

		Parameters
		----------
		method : {'orb', 'sift', 'fast'}
		The descriptor method to be used

		extractor_parameters : dict
		A dictionary containing OpenCV SIFT parameters names and values.

		downsampling : int
		The divisor to image_size to down sample the input image.
		downsample_amount : int
		The amount of downsampling to apply to the image
		"""
		for i, node in self.nodes_iter(data=True):
		image = node.get_array()
		node.extract_features(image, args, *kwargs),
		if downsample_amount == None:
		total_size = node.geodata.raster_size[0] * node.geodata.raster_size[1]
		downsample_amount = math.ceil(total_size / self.maxsize**2)
		node.extract_features_with_downsampling(downsample_amount, args, *kwargs)

		def extract_features_with_tiling(self, tilesize=1000, overlap=500, args, *kwargs): #pragma: no cover
		for i, node in self.nodes_iter(data=True):
		print('Processing {}'.format(node['image_name']))
		node.extract_features_with_tiling(tilesize=tilesize, overlap=overlap, args, *kwargs)

		def extract_subsets(self, args, *kwargs):
		"""
		Extracts features from each image in those regions estimated to be
		overlapping.

		args and *kwargs are passed to the feature extractor. For example,
		passing method='sift' will cause the extractor to use the sift method.
		"""
		for source, destination, e in self.edges_iter(data=True):
		e.extract_subset(args, *kwargs)


		def save_features(self, out_path, nodes=[], **kwargs):
		"""
		@@ -279,6 +325,17 @@ class CandidateGraph(nx.Graph):
		"""
		self.apply_func_to_edges('decompose_and_match', args, *kwargs)

		def estimate_mbrs(self, args, *kwargs):
		"""
		For each edge, estimate the overlap and compute a minimum bounding
		rectangle (mbr) in pixel space.

		See Also
		--------
		autocnet.graoh.edge.Edge.compute_mbr
		"""
		self.apply_func_to_edges('estimate_mbr', args, *kwargs)

		def compute_clusters(self, func=markov_cluster.mcl, args, *kwargs):
		"""
		Apply some graph clustering algorithm to compute a subset of the global
		@@ -374,7 +431,7 @@ class CandidateGraph(nx.Graph):

		See Also
		--------
		autocnet.matcher.outlier_detector.DistanceRatio.compute
		autocnet.matcher.cpu_outlier_detector.DistanceRatio.compute
		'''
		self.apply_func_to_edges('ratio_check', args, *kwargs)

		@@ -385,7 +442,7 @@ class CandidateGraph(nx.Graph):
		See Also
		--------
		autocnet.graph.edge.Edge.compute_homography
		autocnet.matcher.outlier_detector.compute_homography
		autocnet.matcher.cpu_outlier_detector.compute_homography
		'''
		self.apply_func_to_edges('compute_homography', args, *kwargs)

		@@ -395,7 +452,7 @@ class CandidateGraph(nx.Graph):

		See Also
		--------
		autocnet.matcher.outlier_detector.compute_fundamental_matrix
		autocnet.matcher.cpu_outlier_detector.compute_fundamental_matrix
		'''
		self.apply_func_to_edges('compute_fundamental_matrix', args, *kwargs)

		@@ -415,7 +472,7 @@ class CandidateGraph(nx.Graph):

		See Also
		--------
		autocnet.matcher.outlier_detector.SpatialSuppression
		autocnet.matcher.cpu_outlier_detector.SpatialSuppression
		'''
		self.apply_func_to_edges('suppress', args, *kwargs)

		@@ -512,7 +569,7 @@ class CandidateGraph(nx.Graph):
		"""
		return plot_graph(self, ax=ax, **kwargs)

		def plot_cluster(self, ax=None, **kwargs):
		def plot_cluster(self, ax=None, **kwargs): # pragma: no cover
		"""
		Plot the graph based on the clusters generated by
		the markov clustering algorithm
		@@ -644,8 +701,7 @@ class CandidateGraph(nx.Graph):

		# get all edges that have matches
		matches = [(u, v) for u, v, edge in self.edges_iter(data=True)
		if hasattr(edge, 'matches') and
		not edge.matches is None]
		if not edge.matches.empty]

		return self.create_edge_subgraph(matches)

autocnet/graph/node.py

+125 −74

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