Commit 344baa68 authored by Jay's avatar Jay Committed by jay
Browse files

Test updates and fix of a bug that assumed edges were ordered lower id to higher id

parent d206ac29

autocnet/graph/edge.py

+21 −6
Original line number Diff line number Diff line 
from collections import MutableMapping

import warnings

from collections import MutableMapping



import numpy as np

import pandas as pd

from pysal.cg.shapes import Polygon



from autocnet.matcher import subpixel as sp

from autocnet.matcher.transformations import FundamentalMatrix, Homography

from autocnet.cg.cg import convex_hull_ratio

from autocnet.cg.cg import overlapping_polygon_area

from autocnet.vis.graph_view import plot_edge

from autocnet.matcher import health

from autocnet.matcher import outlier_detector as od

from autocnet.cg.cg import convex_hull_ratio

from autocnet.matcher import subpixel as sp

from autocnet.transformation.transformations import FundamentalMatrix, Homography

from autocnet.vis.graph_view import plot_edge





class Edge(dict, MutableMapping):
@@ -35,9 +36,15 @@ class Edge(dict, MutableMapping): 
        self.source = source

        self.destination = destination



        self._homography = None

        self.homography = None

        self.fundamental_matrix = None

        self._subpixel_offsets = None



        self._observers = set()



        #Subscribe the heatlh observer

        self._health = health.EdgeHealth()



    def __repr__(self):

        return """

        Source Image Index: {}
@@ -67,6 +74,10 @@ class Edge(dict, MutableMapping): 
        boolean_mask = v[1]

        self.masks[column_name] = boolean_mask



    @property

    def health(self):

        return self._health.health



    def keypoints(self, clean_keys=[]):

        """

        Return a view of the keypoints dataframe after having applied some
@@ -137,6 +148,10 @@ class Edge(dict, MutableMapping): 
                                                    all_destin_keypoints[['x', 'y']],

                                                    mask=mask)



        # Subscribe the health watcher to the fundamental matrix observable

        self.fundamental_matrix.subscribe(self._health.update)

        self.fundamental_matrix._notify_subscribers(self.fundamental_matrix)



        # Set the initial state of the fundamental mask in the masks

        self.masks = ('fundamental', mask)

autocnet/graph/network.py

+8 −6
Original line number Diff line number Diff line
@@ -175,7 +175,6 @@ class CandidateGraph(nx.Graph): 


        raise NotImplementedError

        self.add_node(self.node_counter, *args, **kwargs)

        #self.node_labels[self.node[self.node_counter]['image_name']] = self.node_counter

        self.node_counter += 1



    def extract_features(self, method='orb', extractor_parameters={}):
@@ -225,7 +224,7 @@ class CandidateGraph(nx.Graph): 
    def add_matches(self, matches):

        """

        Adds match data to a node and attributes the data to the

        appropriate edges, e.g. if A-B have a match, edge A-B is attributes

        appropriate edges, e.g. if A-B have a match, edge A-B is attributed

        with the pandas dataframe.



        Parameters
@@ -233,13 +232,16 @@ class CandidateGraph(nx.Graph): 
        matches : dataframe

                  The pandas dataframe containing the matches

        """

        edges = self.edges()

        source_groups = matches.groupby('source_image')

        for i, source_group in source_groups:

            for j, dest_group in source_group.groupby('destination_image'):

                source_key = dest_group['source_image'].values[0]

                destination_key = dest_group['destination_image'].values[0]



                if (source_key, destination_key) in edges:

                    edge = self.edge[source_key][destination_key]

                else:

                    edge = self.edge[destination_key][source_key]



                if hasattr(edge, 'matches'):

                    df = edge.matches

autocnet/matcher/health.py

0 → 100644
+29 −0
Original line number Diff line number Diff line 




class EdgeHealth(object):

    """

    Storage and computation of the health of a graph edge using the metric:





    """

    def __init__(self):

        self.FundamentalMatrix = 0.0



    @property

    def health(self):

        return self.recompute_health()



    def update(self, *args, **kwargs):

        """

        Pass through called when the observable (model) changes.

        *args and **kwargs are passed through from the observable.

        """

        for a in args:

            if hasattr(self, a.__class__.__name__):

                setattr(self, a.__class__.__name__, a)



    def recompute_health(self):

        """

        Recompute the health of the edge.

        """

        return self.FundamentalMatrix.error.mean()
 
 No newline at end of file

autocnet/matcher/outlier_detector.py

+5 −1
Original line number Diff line number Diff line
@@ -155,12 +155,16 @@ def compute_fundamental_matrix(kp1, kp2, method='ransac', reproj_threshold=5.0, 
    else:

        raise ValueError("Unknown outlier detection method.  Choices are: 'ransac', 'lmeds', or 'normal'.")





    transformation_matrix, mask = cv2.findFundamentalMat(kp1,

                                                     kp2,

                                                     method_,

                                                     reproj_threshold,

                                                     confidence)

    try:

        mask = mask.astype(bool)

    except: pass  # pragma: no cover



    return transformation_matrix, mask

autocnet/transformation/__init__.py

0 → 100644
+0 −0

Empty file added.