Commit 5e0f7799 authored by Jay's avatar Jay
Browse files

Fixes subpixel registration with disconnected objects

parent 4c6324ce

autocnet/io/db/utils.py

+8 −6
Original line number Original line Diff line number Diff line
@@ -13,6 +13,8 @@ log = logging.getLogger(__name__) 




@retry()

@retry()

def update_measures(ncg, session, measures_iterable_to_update):

def update_measures(ncg, session, measures_iterable_to_update):

    if not measures_iterable_to_update:

        return

    with ncg.session_scope() if ncg is not None else nullcontext(session) as session:

    with ncg.session_scope() if ncg is not None else nullcontext(session) as session:

        stmt = Measures.__table__.update().\

        stmt = Measures.__table__.update().\

                        where(Measures.__table__.c.id == bindparam('_id')).\

                        where(Measures.__table__.c.id == bindparam('_id')).\
@@ -29,7 +31,7 @@ def update_measures(ncg, session, measures_iterable_to_update): 
@retry()

@retry()

def ignore_measures(ncg, session, measures_iterable_to_ignore, chooser):

def ignore_measures(ncg, session, measures_iterable_to_ignore, chooser):

    with ncg.session_scope() if ncg is not None else nullcontext(session) as session:

    with ncg.session_scope() if ncg is not None else nullcontext(session) as session:

        measures_to_set_false = [{'_id':i} for i in measures_to_set_false]

        measures_to_set_false = [{'_id':i} for i in measures_iterable_to_ignore]

        # Set ignore=True measures that failed

        # Set ignore=True measures that failed

        stmt = Measures.__table__.update().\

        stmt = Measures.__table__.update().\

                                where(Measures.__table__.c.id == bindparam('_id')).\

                                where(Measures.__table__.c.id == bindparam('_id')).\
@@ -38,7 +40,7 @@ def ignore_measures(ncg, session, measures_iterable_to_ignore, chooser): 
        session.execute(stmt, measures_to_set_false)

        session.execute(stmt, measures_to_set_false)

    return 

    return 





#@retry(wait_time=30)

@retry(wait_time=30)

def get_nodes_for_overlap(ncg, session, overlap):

def get_nodes_for_overlap(ncg, session, overlap):

    # If an NCG is passed, instantiate a session off the NCG, else just pass the session through

    # If an NCG is passed, instantiate a session off the NCG, else just pass the session through

    ids = tuple([i for i in overlap.intersections])

    ids = tuple([i for i in overlap.intersections])
@@ -58,17 +60,17 @@ def get_nodes_for_overlap(ncg, session, overlap): 
@retry(wait_time=30)

@retry(wait_time=30)

def get_nodes_for_measures(ncg, session, measures):

def get_nodes_for_measures(ncg, session, measures):

    nodes = {}

    nodes = {}



    with ncg.session_scope() if ncg is not None else nullcontext(session) as session:

    imageids = tuple([measure.imageid for measure in measures])

    imageids = tuple([measure.imageid for measure in measures])

    with ncg.session_scope() if ncg is not None else nullcontext(session) as session:

        results = session.query(Images).filter(Images.id.in_(imageids)).all()

        results = session.query(Images).filter(Images.id.in_(imageids)).all()

        for res in results:

        for res in results:

            nn = NetworkNode(node_id=res.imageid, 

            nn = NetworkNode(node_id=res.id, 

                             image_name=res.name,

                            image_path=res.path,

                            image_path=res.path,

                            cam_type=res.cam_type,

                            cam_type=res.cam_type,

                            dem=res.dem,

                            dem=res.dem,

                            dem_type=res.dem_type)

                            dem_type=res.dem_type)

            nodes[res.imageid] = nn

            nodes[res.id] = nn

    return nodes  

    return nodes  





@retry(wait_time=30)

@retry(wait_time=30)

autocnet/matcher/subpixel.py

+8 −4
Original line number Original line Diff line number Diff line
@@ -1050,6 +1050,9 @@ def decider(measures, tol=0.6): 
                            of meaure ids to be ignored beause theu fail the consensus

                            of meaure ids to be ignored beause theu fail the consensus

                            building approach

                            building approach

    """

    """

    #TODO: This is super janky. I had to add imageid above, int he func, to the by_id

    # list, and then again to the else statement at the end. This is way to hard

    # to extend with new attributes.

    by_id = defaultdict(list)

    by_id = defaultdict(list)

    measures_to_set_false = []

    measures_to_set_false = []

    for m in measures:

    for m in measures:
@@ -1064,7 +1067,8 @@ def decider(measures, tol=0.6): 
                                  m['template_metric'],

                                  m['template_metric'],

                                  baseline_mi,

                                  baseline_mi,

                                  baseline_corr,

                                  baseline_corr,

                                  m['template_shift']])

                                  m['template_shift'],

                                  m['imageid']])

        else:

        else:

            measures_to_set_false.append(m['id'])

            measures_to_set_false.append(m['id'])
@@ -1093,7 +1097,8 @@ def decider(measures, tol=0.6): 
                 'template_shift': best_measure[6],

                 'template_shift': best_measure[6],

                 'choosername': choosername,

                 'choosername': choosername,

                 'ignore':False,

                 'ignore':False,

                 'best_parameter_index': best_cost}

                 'best_parameter_index': best_cost,

                 'imageid': best_measure[7]}

            measures_to_update.append(m)

            measures_to_update.append(m)

    # A measure could have one bad regitration and get set false, if a different parameter set passed,

    # A measure could have one bad regitration and get set false, if a different parameter set passed,

    # remove from the set false list.

    # remove from the set false list.
@@ -1257,7 +1262,7 @@ def smart_register_point(point, 
        

        

    measure_results, node_cache = subpixel_register_point_smart(point, session, ncg=ncg, parameters=parameters, **shared_kwargs)

    measure_results, node_cache = subpixel_register_point_smart(point, session, ncg=ncg, parameters=parameters, **shared_kwargs)

    measures_to_update, measures_to_set_false = decider(measure_results)

    measures_to_update, measures_to_set_false = decider(measure_results)

    log.info(f'Found {len(measures_to_update)} measures that found subpixel registration consensus. Running validation now...')

    log.info(f'Found {len(measures_to_update)} measures that found subpixel registration consensus.')

    # Validate that the new position has consensus

    # Validate that the new position has consensus

    for measure in measures_to_update:

    for measure in measures_to_update:

        reprojection_distances = validate_candidate_measure(point, measure, node_cache, parameters=parameters, **shared_kwargs)

        reprojection_distances = validate_candidate_measure(point, measure, node_cache, parameters=parameters, **shared_kwargs)
@@ -1269,7 +1274,6 @@ def smart_register_point(point, 
    for measure in measures_to_update:

    for measure in measures_to_update:

        measure['_id'] = measure.pop('id', None)

        measure['_id'] = measure.pop('id', None)







    # Update the measures that passed and failed registration

    # Update the measures that passed and failed registration

    update_measures(ncg, session, measures_to_update)

    update_measures(ncg, session, measures_to_update)

    ignore_measures(ncg, session, measures_to_set_false, shared_kwargs['chooser'])

    ignore_measures(ncg, session, measures_to_set_false, shared_kwargs['chooser'])