Commit 941b7411 authored by Jay's avatar Jay Committed by Jason R Laura
Browse files

Added check for ambiguity in F using 7-point algorithm

parent 468d5bdf

autocnet/matcher/outlier_detector.py

+2 −0
Changes for autocnet/matcher/outlier_detector.py: 2 added lines, 0 removed lines.
Original line number Diff line number Diff line
@@ -86,10 +86,12 @@ class DistanceRatio(Observable): 
        if mask is not None:

            self.mask = mask.copy()

            mask_s = self.matches[mask].groupby('source_idx')['distance'].transform(func).astype('bool')

            single = True

            mask_d = self.matches[mask].groupby('destination_idx')['distance'].transform(func).astype('bool')

            self.mask[mask] = mask_s & mask_d

        else:

            mask_s = self.matches.groupby('source_idx')['distance'].transform(func).astype('bool')

            single = True

            mask_d = self.matches.groupby('destination_idx')['distance'].transform(func).astype('bool')



            self.mask = mask_s & mask_d

autocnet/transformation/transformations.py

+3 −0
Changes for autocnet/transformation/transformations.py: 3 added lines, 0 removed lines.
Original line number Diff line number Diff line
@@ -410,7 +410,10 @@ class FundamentalMatrix(TransformationMatrix): 
        self.x2 = kp2

        self.mask = pd.Series(mask, index=self.index)



        try:

            self[:] = F

        except:

            warnings.warn('F computation fell back to 7-point algorithm and returned 3 F matrices.')



    def _enforce_singularity_constraint(self):

        """