Commit a7da191d authored by jay's avatar jay
Browse files

Updates for epipolar geometry and subpixel matching

parent d5fbb483

autocnet/camera/camera.py

+1 −1
Original line number Diff line number Diff line
@@ -5,6 +5,7 @@ try: 
except:

    cv2 = None





def compute_epipoles(f):

    """

    Compute the epipole and epipolar prime
@@ -28,7 +29,6 @@ def compute_epipoles(f): 


    return e, e1





def idealized_camera():

    """

    Create an idealized camera transformation matrix

autocnet/control/control.py

+28 −5
Original line number Diff line number Diff line 
import warnings

import networkx as nx

import numpy as np

import pandas as pd
@@ -6,6 +7,7 @@ from shapely.geometry import Point 


from plio.io.io_controlnetwork import to_isis, write_filelist



print('reload')



def identify_potential_overlaps(cg, cn, overlap=True):

    """
@@ -94,7 +96,7 @@ def deepen_correspondences(cg, cn): 
    pass



class ControlNetwork(object):

    measures_keys = ['point_id', 'image_index', 'keypoint_index', 'edge', 'match_idx', 'x', 'y']

    measures_keys = ['point_id', 'image_index', 'keypoint_index', 'edge', 'match_idx', 'x', 'y', 'x_off', 'y_off', 'corr', 'valid']



    def __init__(self):

        self._point_id = 0
@@ -150,9 +152,14 @@ class ControlNetwork(object): 
        # The node_id is a composite key (image_id, correspondence_id), so just grab the image

        image_id = key[0]

        match_id = key[1]

        self.data.loc[self._measure_id] = [point_id, image_id, match_id, edge, match_idx, *fields]

        self.data.loc[self._measure_id] = [point_id, image_id, match_id, edge, match_idx, *fields, 0, 0, np.inf, True]

        self._measure_id += 1



    def remove_measure(self, idx):

        self.data = self.data.drop(self.data.index[idx])

        for r in idx:

            self.measure_to_point.pop(r, None)



    def validate_points(self):

        """

        Ensure that all control points currently in the nework are valid.
@@ -168,14 +175,21 @@ class ControlNetwork(object): 
        """



        def func(g):

            print(g)

            # One and only one measure constraint

            if not g.image_index.duplicated().any():

            if g.image_index.duplicated().any():

                return True

            else: return False



        return self.data.groupby('point_id').apply(func)



    def clean_singles(self):

        """

        Take the `data` dataframe and return only those points with

        at least two measures.  This is automatically called before writing

        as functions such as subpixel matching can result in orphaned measures.

        """

        return self.data.groupby('point_id').apply(lambda g: g if len(g) > 1 else None)



    def to_isis(self, outname, serials, olist, *args, **kwargs): #pragma: no cover

        """

        Write the control network out to the ISIS3 control network format.
@@ -185,9 +199,18 @@ class ControlNetwork(object): 
            warnings.warn('Control Network is not ISIS3 compliant.  Please run the validate_points method on the control network.')

            return



        to_isis(outname + '.net', self.data, serials, *args, **kwargs)

        # Apply the subpixel shift

        self.data.x += self.data.x_off

        self.data.y += self.data.y_off



        to_isis(outname + '.net', self.data.query('valid == True'),

                serials, *args, **kwargs)

        write_filelist(olist, outname + '.lis')



        # Back out the subpixel shift

        self.data.x -= self.data.x_off

        self.data.y -= self.data.y_off



    def to_bal(self):

        """

        Write the control network out to the Bundle Adjustment in the Large

autocnet/graph/edge.py

+10 −5
Original line number Diff line number Diff line
@@ -318,6 +318,7 @@ class Edge(dict, MutableMapping): 


        source_image = (matches.iloc[0]['source_image'])



        pts = []

        # for each edge, calculate this for each keypoint pair

        for i, (idx, row) in enumerate(matches.iterrows()):

            s_idx = int(row['source_idx'])
@@ -329,9 +330,12 @@ class Edge(dict, MutableMapping): 
            # Get the template and search window

            s_template = sp.clip_roi(s_img, s_keypoint, template_size)

            d_search = sp.clip_roi(d_img, d_keypoint, search_size)

            if 0 in s_template.shape or 0 in d_search.shape:

                continue

            try:

                x_offset, y_offset, strength = sp.subpixel_offset(s_template, d_search, **kwargs)

                (x_offset, y_offset, strength),ref = sp.subpixel_offset(s_template, d_search, **kwargs)

                self.subpixel_matches.loc[idx, ('x_offset', 'y_offset', 'correlation', 'reference')]= [x_offset, y_offset, strength, source_image]

                pts.append([s_template, d_search, ref, x_offset, y_offset])

            except:

                warnings.warn('Template-Search size mismatch, failing for this correspondence point.')
@@ -349,6 +353,7 @@ class Edge(dict, MutableMapping): 
        self.masks['shift'] = shift_mask

        self.masks['threshold'] = threshold_mask

        self.masks['subpixel'] = mask

        return pts



    def suppress(self, suppression_func=spf.correlation, clean_keys=[], maskname='suppression', **kwargs):

        """
@@ -521,6 +526,7 @@ class Edge(dict, MutableMapping): 
                    buf = -buffer_dist

                smbr[i] += buf

                dmbr[i] += buf



        except:

            smbr = self.source.geodata.xy_extent

            dmbr = self.source.geodata.xy_extent
@@ -531,11 +537,11 @@ class Edge(dict, MutableMapping): 
        self['source_mbr'] = smbr

        self['destin_mbr'] = dmbr



    def get_matches(self): # pragma: no cover

    def get_matches(self, clean_keys=[]): # pragma: no cover

        if self.matches.empty:

            return pd.DataFrame()



        match, _ = self.clean(clean_keys=list(self.masks.columns))

        match, _ = self.clean(clean_keys=clean_keys)

        match = match[['source_image', 'source_idx',

                       'destination_image', 'destination_idx']]

        skps = self.get_keypoints('source', index=match.source_idx)
@@ -544,5 +550,4 @@ class Edge(dict, MutableMapping): 
        dkps.columns = ['destination_x', 'destination_y']

        match = match.join(skps, on='source_idx')

        match = match.join(dkps, on='destination_idx')

        matches.append(match)

        return matches
 
        return match

autocnet/graph/node.py

+2 −2
Original line number Diff line number Diff line
@@ -186,7 +186,7 @@ class Node(dict, MutableMapping): 
        array = self.geodata.read_array(band=band)

        return bytescale(array)



    def get_array(self, band=1):

    def get_array(self, band=1, **kwargs):

        """

        Get a band as a 32-bit numpy array
@@ -196,7 +196,7 @@ class Node(dict, MutableMapping): 
               The band to read, default 1

        """



        array = self.geodata.read_array(band=band)

        array = self.geodata.read_array(band=band, **kwargs)

        return array



    def get_keypoints(self, index=None):

autocnet/matcher/cuda_extractor.py

+1 −1
Original line number Diff line number Diff line
@@ -10,7 +10,7 @@ def extract_features(array, nfeatures=None, **kwargs): 
    A custom docstring.

    """

    if not nfeatures:

        nfeatures = int(max(array.shape) / 1.75)

        nfeatures = int(max(array.shape) / 1.25)

    else:

        warnings.warn('NFeatures specified with the CudaSift implementation.  Please ensure the distribution of keypoints is what you expect.')