Commit 9799bf2e authored by Adam Paquette's avatar Adam Paquette
Browse files

further investigation into spatial suppresion

parent 7db7968d

autocnet/matcher/outlier_detector.py

+1 −2
Original line number Diff line number Diff line
@@ -192,13 +192,12 @@ class SpatialSuppression(Observable): 
        if self.k > len(self.df):

            warnings.warn('Only {} valid points, but {} points requested'.format(len(self.df), self.k))

            self.k = len(self.df)

        search_space = np.linspace(self.min_radius, self.max_radius / 16, 250)

        search_space = np.linspace(self.min_radius, self.max_radius, 250)

        cell_sizes = (search_space / math.sqrt(2)).astype(np.int)

        min_idx = 0

        max_idx = len(search_space) - 1

        while True:

            mid_idx = int((min_idx + max_idx) / 2)

            r = search_space[mid_idx]



            cell_size = cell_sizes[mid_idx]

            n_x_cells = int(self.domain[0] / cell_size)

autocnet/matcher/tests/test_outlier_detector.py

+10 −1
Original line number Diff line number Diff line
@@ -10,7 +10,7 @@ import pandas as pd 
sys.path.append(os.path.abspath('..'))



from .. import matcher, outlier_detector



from autocnet.matcher.outlier_detector import SpatialSuppression



class TestOutlierDetector(unittest.TestCase):
@@ -94,3 +94,12 @@ class TestSpatialSuppression(unittest.TestCase): 
        self.suppression_obj.suppress()

        self.assertIn(self.suppression_obj.mask.sum(), list(range(27, 34)))



    def spatial_suppression_testing(self):

        r = np.random.RandomState(12345)

        df = pd.DataFrame(r.uniform(0,1,(500, 3)), columns=['x', 'y', 'strength'])

        minimum = SpatialSuppression(df, (1,1), k = 1)



        minimum.suppress()

        df.plot(kind = 'scatter', x = 'x', y = 'y')

notebooks/spatial_suppression_testing.ipynb

+19 −92

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