Updates to tests. (7579ce89) · Commits · aflab / astrogeology / Autocnet

autocnet/camera/tests/test_camera.py

+4 −3

Original line number	Diff line number	Diff line
		@@ -60,6 +60,7 @@ class TestCamera(unittest.TestCase):
		c = camera.triangulate(coords1, coords2, p, p1)
		np.testing.assert_array_almost_equal(c, truth)

		truth = np.array([ 0.078723, 0.228164, 0.127505, 0.333851, 0.009718])
		c = camera.projection_error(p1, p, coords1, coords2)
		np.testing.assert_array_almost_equal(c, truth)
		No newline at end of file
		truth = np.array([ 3.09866357e-02, 2.60295132e-01,
		8.12871690e-02, 5.57281224e-01, 4.72226586e-04])
		residuals, reproj_error = camera.projection_error(p1, p, coords1, coords2)
		np.testing.assert_array_almost_equal(residuals, truth)
		No newline at end of file

autocnet/fileio/tests/test_io_controlnetwork.py

+12 −16

Original line number	Diff line number	Diff line
		@@ -13,6 +13,7 @@ from autocnet.utils.utils import find_in_dict
		from autocnet.control.control import CorrespondenceNetwork
		from autocnet.graph.edge import Edge
		from autocnet.graph.node import Node
		from autocnet.graph.network import CandidateGraph

		sys.path.insert(0, os.path.abspath('..'))

		@@ -22,13 +23,15 @@ class TestWriteIsisControlNetwork(unittest.TestCase):
		@classmethod
		def setUpClass(cls):

		cls.npts = 5
		serial_times = {295: '1971-07-31T01:24:11.754',
		296: '1971-07-31T01:24:36.970'}
		cls.serials = ['APOLLO15/METRIC/{}'.format(i) for i in serial_times.values()]
		net = CandidateGraph({'a': ['b'], 'b': ['a']})
		for i, n in net.nodes_iter(data=True):
		n._keypoints = pd.DataFrame(np.arange(10).reshape(cls.npts,-1), columns=['x', 'y'])
		n._isis_serial = cls.serials[i]

		# Create an edge and a set of matches
		cls.npts = 5
		coords = pd.DataFrame(np.arange(cls.npts * 2).reshape(-1, 2))
		source = np.zeros(cls.npts)
		destination = np.ones(cls.npts)
		pid = np.arange(cls.npts)
		@@ -38,19 +41,12 @@ class TestWriteIsisControlNetwork(unittest.TestCase):
		'destination_image',
		'destination_idx'])

		edge = Mock(spec=Edge)
		edge.source = Mock(spec=Node)
		edge.destination = Mock(spec=Node)
		edge.source.isis_serial = cls.serials[0]
		edge.destination.isis_serial = cls.serials[1]
		edge.source.get_keypoint_coordinates = MagicMock(return_value=coords)
		edge.destination.get_keypoint_coordinates = MagicMock(return_value=coords)

		cnet = CorrespondenceNetwork()
		cnet.add_correspondences(edge, matches)
		cls.creation_date = cnet.creationdate
		cls.modified_date = cnet.modifieddate
		io_controlnetwork.to_isis('test.net', cnet, mode='wb', targetname='Moon')
		net.edge[0][1].matches = matches
		net.generate_cnet(clean_keys=[])

		cls.creation_date = net.creationdate
		cls.modified_date = net.modifieddate
		io_controlnetwork.to_isis('test.net', net, mode='wb', targetname='Moon')

		cls.header_message_size = 98
		cls.point_start_byte = 65634

autocnet/graph/edge.py

+29 −9

Original line number	Diff line number	Diff line
		@@ -68,7 +68,7 @@ class Edge(dict, MutableMapping):
		mask_lookup = {'fundamental': 'fundamental_matrix',
		'ratio': 'distance_ratio'}
		if not hasattr(self, '_masks'):
		if hasattr(self, 'matches'):
		if self.matches is not None:
		self._masks = pd.DataFrame(True, columns=['symmetry'],
		index=self.matches.index)
		else:
		@@ -93,7 +93,21 @@ class Edge(dict, MutableMapping):
		return self._health.health

		def match(self, k=2):
		"""
		Given two sets of descriptors, utilize a FLANN (Approximate Nearest
		Neighbor KDTree) matcher to find the k nearest matches. Nearness is
		the euclidean distance between descriptors.

		The matches are then added as an attribute to the edge object.
		Parameters
		----------
		k : int
		The number of neighbors to find

		Returns
		-------

		"""
		def mono_matches(a, b):
		fl.add(a.descriptors, a.node_id)
		fl.train()
		@@ -105,6 +119,15 @@ class Edge(dict, MutableMapping):
		mono_matches(self.destination, self.source)

		def _add_matches(self, matches):
		"""
		Given a dataframe of matches, either append to an existing
		matches edge attribute or initially populate said attribute.

		Parameters
		----------
		matches : dataframe
		A dataframe of matches
		"""
		if self.matches is None:
		self.matches = matches
		else:
		@@ -160,6 +183,7 @@ class Edge(dict, MutableMapping):
		return
		matches, mask = self._clean(clean_keys)

		# TODO: Homogeneous is horribly inefficient here, use Numpy array notation
		s_keypoints = self.source.get_keypoint_coordinates(index=matches['source_idx'],
		homogeneous=True)
		d_keypoints = self.destination.get_keypoint_coordinates(index=matches['destination_idx'],
		@@ -219,17 +243,13 @@ class Edge(dict, MutableMapping):
		s_keypoints = self.source.get_keypoint_coordinates(index=matches['source_idx'])
		d_keypoints = self.destination.get_keypoint_coordinates(index=matches['destination_idx'])

		transformation_matrix, ransac_mask = od.compute_homography(s_keypoints.values,
		d_keypoints.values,
		**kwargs)
		self.homography = Homography(np.zeros((3,3)), index=self.masks.index)
		self.homography.compute(s_keypoints.values,
		d_keypoints.values)

		# Convert the truncated RANSAC mask back into a full length mask
		mask[mask] = ransac_mask.ravel()
		mask[mask] = self.homography.mask.ravel()
		self.masks = ('ransac', mask)
		self.homography = Homography(transformation_matrix,
		s_keypoints[ransac_mask],
		d_keypoints[ransac_mask],
		mask=mask[mask].index)

		# Finalize the array to get custom attrs to propagate
		self.homography.__array_finalize__(self.homography)

autocnet/graph/network.py

+1 −2

Original line number	Diff line number	Diff line
		@@ -13,7 +13,6 @@ from autocnet.fileio.io_gdal import GeoDataset
		from autocnet.graph import markov_cluster
		from autocnet.graph.edge import Edge
		from autocnet.graph.node import Node
		from autocnet.matcher.add_depth import deepen_correspondences
		from autocnet.vis.graph_view import plot_graph


		@@ -661,7 +660,7 @@ class CandidateGraph(nx.Graph):
		# get all edges that have matches
		matches = [(u, v) for u, v, edge in self.edges_iter(data=True)
		if hasattr(edge, 'matches') and
		not edge.matches.empty]
		not edge.matches is None]

		return self.create_edge_subgraph(matches)

autocnet/graph/node.py

+13 −13

Original line number	Diff line number	Diff line
		@@ -22,21 +22,31 @@ from autocnet.utils import utils

		class Node(dict, MutableMapping):
		"""
		This class represents a node in a graph and is synonymous with an
		image. The node (image) stores PATH information, an accessor to the
		on-disk data set, and correspondences information that references the image.


		Attributes
		----------

		image_name : str
		Name of the image, with extension

		image_path : str
		Relative or absolute PATH to the image

		geodata : object
		File handle to the object

		keypoints : dataframe
		With columns, x, y, and response

		nkeypoints : int
		The number of keypoints found for this image

		descriptors : ndarray
		32-bit array of feature descriptors returned by OpenCV

		masks : set
		A list of the available masking arrays

		@@ -51,6 +61,7 @@ class Node(dict, MutableMapping):
		self.node_id = node_id
		self._mask_arrays = {}
		self.point_to_correspondence = defaultdict(set)
		self.nkeypoints = 0

		def __repr__(self):
		return """
		@@ -69,17 +80,6 @@ class Node(dict, MutableMapping):
		self._geodata = GeoDataset(self.image_path)
		return self._geodata

		@property
		def nkeypoints(self):
		if hasattr(self, '_keypoints'):
		return len(self._keypoints)
		else:
		return 0

		@nkeypoints.setter
		def nkeypoints(self, v):
		self._nkeypoints = v

		@property
		def masks(self):
		mask_lookup = {'suppression': 'suppression'}
		@@ -231,7 +231,7 @@ class Node(dict, MutableMapping):
		keypoints[i] = kpt.pt[0], kpt.pt[1], kpt.response, kpt.size, kpt.angle, octave, layer # y, x
		self._keypoints = pd.DataFrame(keypoints, columns=['x', 'y', 'response', 'size',
		'angle', 'octave', 'layer'])
		self._nkeypoints = len(self._keypoints)
		self.nkeypoints = len(self._keypoints)
		self.descriptors = descriptors.astype(np.float32)

		def load_features(self, in_path):