Commit f465818e authored by jlaura's avatar jlaura Committed by Kelvin Rodriguez
Browse files

Fixes issue where fundamental matrix was not propagating to DB (#350)

parent 3ef72c90

autocnet/transformation/fundamental_matrix.py

+2 −2
Original line number Diff line number Diff line
@@ -293,7 +293,7 @@ def compute_fundamental_matrix(kp1, kp2, method='mle', reproj_threshold=2.0, 
        raise ValueError("Unknown estimation method. Choices are: 'lme', 'ransac', 'lmeds', '8point', or 'normal'.")



    if len(kp1) == 0 or len(kp2) == 0:

        warnings.warn("F Computation Failed.")

        warnings.warn("F-matix computation failed. One of the keypoint args is empty. kp1:{}, kp2:{}.".format(len(kp1), len(kp2)))

        return None, None



    # OpenCV wants arrays
@@ -310,7 +310,7 @@ def compute_fundamental_matrix(kp1, kp2, method='mle', reproj_threshold=2.0, 
                                         ransacReprojThreshold=reproj_threshold,

                                         confidence=confidence)

    if F is None:

        warnings.warn("F Computation Failed.")

        warnings.warn("F computation failed with no result. Returning None.")

        return None, None

    if F.shape != (3,3):

        warnings.warn('F computation fell back to 7-point algorithm, not setting F.')

autocnet/graph/edge.py

+1 −1

File changed.

Contains only whitespace changes.