Merge pull request #22 from kree/computehomography (6ec490cb) · Commits · aflab / astrogeology / Autocnet

autocnet/graph/network.py

+45 −0

Original line number	Diff line number	Diff line
		@@ -2,6 +2,8 @@ import os

		import networkx as nx
		import pandas as pd
		import cv2
		import numpy as np

		from autocnet.control.control import C
		from autocnet.fileio import io_json
		@@ -92,6 +94,49 @@ class CandidateGraph(nx.Graph):
		else:
		edge['matches'] = dest_group

		def compute_homography(self, source_key, destination_key, outlier_algorithm=cv2.RANSAC):
		"""

		Parameters
		----------
		source_key : str
		The identifier for the source node
		destination_key : str
		The identifier for the destination node
		Returns
		-------
		: tuple
		A tuple of the form (transformation matrix, bad entry mask)
		The returned tuple is empty if there is no edge between the source and destination nodes or
		if it exists, but has not been populated with a matches dataframe.

		"""
		if self.has_edge(source_key, destination_key):
		try:
		edge = self[source_key][destination_key]
		except:
		edge = self[destination_key][source_key]
		if 'matches' in edge.keys():
		source_keypoints = []
		destination_keypoints = []

		for i, row in edge['matches'].iterrows():
		source_idx = row['source_idx']
		src_keypoint = [self.node[source_key]['keypoints'][int(source_idx)].pt[0],
		self.node[source_key]['keypoints'][int(source_idx)].pt[1]]
		destination_idx = row['destination_idx']
		dest_keypoint = [self.node[destination_key]['keypoints'][int(destination_idx)].pt[0],
		self.node[destination_key]['keypoints'][int(destination_idx)].pt[1]]

		source_keypoints.append(src_keypoint)
		destination_keypoints.append(dest_keypoint)
		return cv2.findHomography(np.array(source_keypoints), np.array(destination_keypoints),
		outlier_algorithm, 5.0)
		else:
		return ('', '')
		else:
		return ('','')

		def to_cnet(self):
		"""
		Generate a control network (C) object from a graph

autocnet/matcher/tests/test_feature_extractor.py

+1 −1

Original line number	Diff line number	Diff line
		@@ -24,7 +24,7 @@ class TestFeatureExtractor(unittest.TestCase):
		def test_extract_features(self):
		features = feature_extractor.extract_features(self.data_array, self.parameters)
		self.assertEquals(len(features), 2)
		self.assertEqual(len(features[0]), 10) # OpenCV +1 to
		self.assertEqual(len(features[0]), 11) # OpenCV +1 to
		self.assertIsInstance(features[0][0], type(cv2.KeyPoint()))
		self.assertIsInstance(features[1][0], np.ndarray)

functional_tests/test_two_image.py

+7 −2

Original line number	Diff line number	Diff line
		import os
		import unittest

		import pandas as pd
		from scipy.misc import bytescale

		from autocnet.examples import get_path
		@@ -67,9 +66,15 @@ class TestTwoImageMatching(unittest.TestCase):

		for node, attributes in cg.nodes_iter(data=True):
		descriptors = attributes['descriptors']
		matches = fl.query(descriptors, node, k=2)
		matches = fl.query(descriptors, node, k=3)
		cg.add_matches(matches)

		# Step: Compute Homography
		transformation_matrix, mask = cg.compute_homography(0, 1)
		self.assertEquals(len(transformation_matrix), 3)
		#TODO: write better test
		#self.assertEquals(len(mask), 19)

		# Step: And create a C object
		cnet = cg.to_cnet()

autocnet/matcher/tests/test_matcher.py

+1 −1

File changed.

Contains only whitespace changes.