Commit 18073af0 authored by jay's avatar jay
Browse files

Updates to add csmapi and missing func

parent 8ba90cbb

autocnet/graph/node.py

+6 −15
Original line number Diff line number Diff line
@@ -3,6 +3,7 @@ import itertools 
import os

import warnings



from csmapi import csmapi

import numpy as np

import pandas as pd

from plio.io.io_gdal import GeoDataset
@@ -316,15 +317,6 @@ class Node(dict, MutableMapping): 
        pass



    def extract_features(self, array, xystart=[], camera=None, *args, **kwargs):

        arraysize = array.shape[0] * array.shape[1]



        try:

            maxsize = self.maxsize[0] * self.maxsize[1]

        except:

            maxsize = np.inf



        if arraysize > maxsize:

            warnings.warn('Node: {}. Maximum feature extraction array size is {}.  Maximum array size is {}. Please use tiling or downsampling.'.format(self['node_id'], maxsize, arraysize))



        new_keypoints, new_descriptors = Node._extract_features(array, *args, **kwargs)

        count = len(self.keypoints)
@@ -335,22 +327,19 @@ class Node(dict, MutableMapping): 
            new_keypoints['y'] += xystart[1]



        concat_kps = pd.concat((self.keypoints, new_keypoints))

        descriptor_mask = concat_kps.duplicated(keep='last')

        concat_kps.reset_index(inplace=True, drop=True)

        concat_kps.drop_duplicates(inplace=True)

        #descriptor_mask = descriptor_mask[count:]        

        # Removed duplicated and re-index the merged keypoints

        

        

        if self.descriptors is not None:

            concat = np.concatenate((self.descriptors, new_descriptors))

            new_descriptors = concat[concat_kps.index]

            new_descriptors = concat[concat_kps.index.values]

        

        self.descriptors = new_descriptors

        self.keypoints = concat_kps

        

        lkps = len(self.keypoints)

        print(lkps, len(self.descriptors))

        assert lkps == len(self.descriptors)



        if lkps > 0:
@@ -407,8 +396,10 @@ class Node(dict, MutableMapping): 
        # Project the sift keypoints to the ground

        def func(row, args):

            camera = args[0]

            gnd = getattr(camera, 'imageToGround')(row[1], row[0], 0)

            return gnd

            imagecoord = csmapi.ImageCoord(float(row[1]), float(row[0]))

            # An elevation at the ellipsoid is plenty accurate for this work

            gnd = getattr(camera, 'imageToGround')(imagecoord, 0)

            return [gnd.x, gnd.y, gnd.z]

        feats = self.keypoints[['x', 'y']].values

        gnd = np.apply_along_axis(func, 1, feats, args=(self.camera, ))

        gnd = pd.DataFrame(gnd, columns=['xm', 'ym', 'zm'], index=self.keypoints.index)

autocnet/io/keypoints.py

+11 −0
Original line number Diff line number Diff line
@@ -187,3 +187,14 @@ def to_npy(keypoints, descriptors, out_path): 
             keypoints=keypoints,

             keypoints_idx=keypoints.index,

             keypoints_columns=keypoints.columns)



def create_output_path(ds, outdir=None):                                           

    image_name = os.path.basename(ds.file_name)                                    

    image_path = os.path.dirname(ds.file_name)                                     

                                                                                   

    if outdir is None:                                                             

        outh5 = os.path.join(image_path, image_name + '_kps.h5')                   

    else:                                                                          

        outh5 = os.path.join(outdir, image_name + '_kps.h5')                       

                                                                                   

    return outh5