Commit 2555707f authored by Jay's avatar Jay Committed by jay
Browse files

Update to matcher to explicitly perform a self-neighbor check using the graph hash

parent 6a5a9c68

autocnet/matcher/matcher.py

+8 −9
Original line number Diff line number Diff line
@@ -54,7 +54,7 @@ class FlannMatcher(object): 
        """

        self._flann_matcher.train()



    def query(self, descriptor, k=3, self_neighbor=True):

    def query(self, descriptor, query_image, k=3):

        """



        Parameters
@@ -62,13 +62,12 @@ class FlannMatcher(object): 
        descriptor : ndarray

                     The query descriptor to search for



        query_image : hashable

                      Key of the query image



        k : int

            The number of nearest neighbors to search for



        self_neighbor : bool

                        If the query descriptor is also a member

                        of the KDTree avoid self neighbor, default True.



        Returns

        -------

        matched : dataframe
@@ -76,13 +75,13 @@ class FlannMatcher(object): 
                  matched image name, query index, train index, and

                  descriptor distance

        """

        idx = 0

        if self_neighbor:

            idx = 1



        matches = self._flann_matcher.knnMatch(descriptor, k=k)

        matched = []

        for m in matches:

            for i in m[idx:]:

            for i in m:

                if self.image_indices[i.imgIdx] == query_image:

                    continue

                matched.append((self.image_indices[i.imgIdx],

                                i.queryIdx,

                                i.trainIdx,

autocnet/matcher/tests/test_matcher.py

+6 −4
Original line number Diff line number Diff line
@@ -36,8 +36,10 @@ class TestMatcher(unittest.TestCase): 


        fmatcher.train()



        matched = fmatcher.query(self.fd['AS15-M-0296_SML.png'][1], k=2)

        self.assertEqual(10, len(matched))

        matched = fmatcher.query(self.fd['AS15-M-0296_SML.png'][1],'AS15-M-0296_SML.png', k=2)

        matched_to = matched['matched_to']

        self.assertTrue(matched_to[matched_to != 'AS15-M-0296_SML.png'].any())

        self.assertEqual(7, len(matched))



        # Check that self neighbors are being omitted

        distance = matched['distance']
@@ -56,8 +58,8 @@ class TestMatcher(unittest.TestCase): 


        fmatcher.train()



        matched = fmatcher.query(self.fd['AS15-M-0296_SML.png'][1], k=3)

        self.assertEqual(20, len(matched))

        matched = fmatcher.query(self.fd['AS15-M-0296_SML.png'][1], 'AS15-M-0296_SML.png', k=3)

        self.assertEqual(12, len(matched))



        # Check that self neighbors are being omitted

        distance = matched['distance']

functional_tests/test_two_image.py

+1 −1
Original line number Diff line number Diff line
@@ -67,7 +67,7 @@ class TestTwoImageMatching(unittest.TestCase): 


        for node, attributes in cg.nodes_iter(data=True):

            descriptors = attributes['descriptors']

            matches = fl.query(descriptors, k=2)

            matches = fl.query(descriptors, node,  k=2)

            cg.add_matches(node, matches)



        # Step: And create a C object