Commit fae17cd6 authored by Evin Dunn's avatar Evin Dunn
Browse files

cpu_matcher and cuda_matcher reset the Edge.masks df to empty

parent 0a2eb894

autocnet/matcher/cpu_matcher.py

+8 −14
Original line number Diff line number Diff line
@@ -78,24 +78,18 @@ def match(edge, k=2, **kwargs): 


    fl = FlannMatcher()



    # Get the correct descriptors

    # TODO: Extract into a helper function

    if 'aidx' in kwargs.keys():

        aidx = kwargs['aidx']

        kwargs.pop('aidx')

    else:

        aidx = None

    # Reset the edge.masks attrib; New matches would mean masks have to be

    # re-calculated

    edge.masks = pd.DataFrame()

    

    if 'bidx' in kwargs.keys():

        bidx = kwargs['bidx']

        kwargs.pop('bidx')

    else:

        bidx = None

    # Get the correct descriptors

    aidx = kwargs.pop('aidx', None)

    bidx = kwargs.pop('bidx', None)



    mono_matches(edge.source, edge.destination, aidx=aidx, bidx=bidx, **kwargs)

    mono_matches(edge.source, edge.destination, aidx=aidx, bidx=bidx)

    # Swap the indices since mono_matches is generic and source/destin are

    # swapped

    mono_matches(edge.destination, edge.source, aidx=bidx, bidx=aidx, **kwargs)

    mono_matches(edge.destination, edge.source, aidx=bidx, bidx=aidx)

    edge.matches.sort_values(by=['distance'])

autocnet/matcher/cuda_matcher.py

+1 −0
Original line number Diff line number Diff line
@@ -38,4 +38,5 @@ def match(edge, ratio=0.8, **kwargs): 


    # Set the matches and set the 'ratio' (ambiguity) mask

    edge.matches = df

    edge.masks = pd.DataFrame()

    edge.masks['ratio'] = df['ambiguity'] <= ratio