Commit 74160bf6 authored by Jay's avatar Jay Committed by jay
Browse files

Update to the matcher to support arbitrary k

parent acc751b2

autocnet/matcher/matcher.py

+15 −6
Original line number Diff line number Diff line
@@ -11,7 +11,9 @@ DEFAULT_FLANN_PARAMETERS = dict(algorithm=FLANN_INDEX_KDTREE, 
class FlannMatcher(object):

    """

    A wrapper to the OpenCV Flann based matcher class that adds

    metadata tracking attributes and methods.

    metadata tracking attributes and methods.  This takes arbitrary

    descriptors and so should be available for use with any

    descriptor data stored as an ndarray.



    Attributes

    ----------
@@ -51,7 +53,7 @@ class FlannMatcher(object): 
        """

        self._flann_matcher.train()



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

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

        """



        Parameters
@@ -62,18 +64,25 @@ class FlannMatcher(object): 
        k : int

            The number of nearest neighbors to search for



        self_neighbor : bool

                        If the query descriptor is also a member

                        of the train descriptors, default True

        Returns

        -------

        matched : dataframe

                  containing matched points

        """

        idx = 0

        if self_neighbor:

            idx = 1

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

        matched = []

        for m in matches:

            matched.append((self.image_indices[m[1].imgIdx],

                  m[1].queryIdx,

                  m[1].trainIdx,

                  m[1].distance))

            for i in m[idx:]:

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

                                i.queryIdx,

                                i.trainIdx,

                                i.distance))

        return pd.DataFrame(matched, columns=['matched_to', 'queryIdx',

                                              'trainIdx', 'distance'])

autocnet/matcher/tests/test_matcher.py

+19 −2
Original line number Diff line number Diff line
@@ -22,9 +22,8 @@ class TestMatcher(unittest.TestCase): 


        self.fd['AS15-M-0296_SML.png'] = sift.detectAndCompute(im1, None)

        self.fd['AS15-M-0297_SML.png'] = sift.detectAndCompute(im2, None)

        print(dir(self.fd))

    def test_flann_match_two_images(self):



    def test_flann_match_k_eq_2(self):

        fmatcher = matcher.FlannMatcher()

        truth_image_indices = {}

        counter = 0
@@ -44,6 +43,24 @@ class TestMatcher(unittest.TestCase): 
        distance = matched['distance']

        self.assertFalse(distance[distance == 0].any())



    def test_flann_match_k_eq_3(self):

        fmatcher = matcher.FlannMatcher()

        truth_image_indices = {}

        counter = 0

        for imageid, (keypoint, descriptor) in self.fd.items():

            truth_image_indices[counter] = imageid

            fmatcher.add(descriptor, imageid)

            counter += 1



        self.assertEqual(truth_image_indices, fmatcher.image_indices)



        fmatcher.train()



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

        self.assertEqual(20, len(matched))



        # Check that self neighbors are being omitted

        distance = matched['distance']

        self.assertFalse(distance[distance == 0].any())

    def tearDown(self):

        pass
 
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