Removes redundant mon_matches method (4b908cdd) · Commits · aflab / astrogeology / Autocnet

autocnet/matcher/cpu_decompose.py

+3 −44

Original line number	Diff line number	Diff line
		@@ -2,6 +2,7 @@ import numpy as np
		from scipy.spatial.distance import cdist

		from autocnet.matcher.feature import FlannMatcher
		from autocnet.matcher.feature_matcher import match
		from autocnet.transformation.decompose import coupled_decomposition


		@@ -49,48 +50,6 @@ def decompose_and_match(self, k=2, maxiteration=3, size=18, buf_dist=3,**kwargs)
		partioning point. The smaller the distance, the more likely
		percision errors can results in erroneous partitions.
		"""
		def mono_matches(a, b, aidx=None, bidx=None):
		"""
		Apply the FLANN match_features

		Parameters
		----------
		a : object
		A node object

		b : object
		A node object

		aidx : iterable
		An index for the descriptors to subset

		bidx : iterable
		An index for the descriptors to subset
		"""
		# Subset if requested
		if aidx is not None:
		ad = a.descriptors[aidx]
		else:
		ad = a.descriptors

		if bidx is not None:
		bd = b.descriptors[bidx]
		else:
		bd = b.descriptors

		# Load, train, and match
		fl.add(ad, a['node_id'], index=aidx)
		fl.train()
		matches = fl.query(bd, b['node_id'], k, index=bidx)
		if self.matches is None:
		self.matches = matches
		else:
		df = self.matches
		self.matches = df.append(matches,
		ignore_index=True,
		verify_integrity=True)
		fl.clear()

		def func(group):
		ratio = 0.8
		res = [False] * len(group)
		@@ -245,5 +204,5 @@ def decompose_and_match(self, k=2, maxiteration=3, size=18, buf_dist=3,**kwargs)
		didx = dkp.query('x >= {} and x <= {} and y >= {} and y <= {}'.format(mindx, maxdx, mindy, maxdy)).index
		# If the candidates < k, OpenCV throws an error
		if len(sidx) >= k and len(didx) >=k:
		mono_matches(self.source, self.destination, sidx, didx)
		mono_matches(self.destination, self.source, didx, sidx)
		match(self, aidx=sidx, bidx=didx)
		match(self, aidx=didx, bidx=sidx)

autocnet/matcher/feature_matcher.py

+4 −4

Original line number	Diff line number	Diff line
		@@ -52,12 +52,12 @@ def match(self, k=2, **kwargs):
		"""
		# Subset if requested
		if aidx is not None:
		ad = a.descriptors[aidx].values
		ad = a.descriptors[aidx]
		else:
		ad = a.descriptors

		if bidx is not None:
		bd = b.descriptors[bidx].values
		bd = b.descriptors[bidx]
		else:
		bd = b.descriptors

		@@ -69,5 +69,5 @@ def match(self, k=2, **kwargs):
		fl.clear()

		fl = FlannMatcher()
		mono_matches(self.source, self.destination)
		mono_matches(self.destination, self.source)
		mono_matches(self.source, self.destination, **kwargs)
		mono_matches(self.destination, self.source, **kwargs)