Vincentqyw commited on
Commit
0cc9e81
1 Parent(s): 5c1ffd8

update: inliers too less

Browse files
Files changed (1) hide show
  1. common/utils.py +16 -14
common/utils.py CHANGED
@@ -163,7 +163,8 @@ def compute_geom(
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  confidence=ransac_confidence,
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  maxIters=ransac_max_iter,
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  )
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- geo_info["Fundamental"] = F.tolist()
 
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  H, _ = cv2.findHomography(
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  mkpts1,
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  mkpts0,
@@ -172,12 +173,13 @@ def compute_geom(
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  confidence=ransac_confidence,
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  maxIters=ransac_max_iter,
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  )
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- geo_info["Homography"] = H.tolist()
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- _, H1, H2 = cv2.stereoRectifyUncalibrated(
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- mkpts0.reshape(-1, 2), mkpts1.reshape(-1, 2), F, imgSize=(w1, h1)
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- )
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- geo_info["H1"] = H1.tolist()
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- geo_info["H2"] = H2.tolist()
 
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  return geo_info
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  else:
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  return {}
@@ -352,13 +354,13 @@ def run_matching(
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  "Image 1 - Keypoints",
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  ]
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  output_keypoints = plot_images([image0, image1], titles=titles, dpi=300)
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- plot_keypoints([pred["keypoints0"], pred["keypoints1"]])
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- text = (
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- f"# keypoints0: {len(pred['keypoints0'])} \n"
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- + f"# keypoints1: {len(pred['keypoints1'])}"
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- )
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-
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- add_text(0, text, fs=15)
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  output_keypoints = fig2im(output_keypoints)
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  # plot images with raw matches
 
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  confidence=ransac_confidence,
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  maxIters=ransac_max_iter,
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  )
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+ if F is not None:
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+ geo_info["Fundamental"] = F.tolist()
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  H, _ = cv2.findHomography(
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  mkpts1,
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  mkpts0,
 
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  confidence=ransac_confidence,
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  maxIters=ransac_max_iter,
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  )
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+ if H is not None:
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+ geo_info["Homography"] = H.tolist()
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+ _, H1, H2 = cv2.stereoRectifyUncalibrated(
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+ mkpts0.reshape(-1, 2), mkpts1.reshape(-1, 2), F, imgSize=(w1, h1)
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+ )
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+ geo_info["H1"] = H1.tolist()
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+ geo_info["H2"] = H2.tolist()
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  return geo_info
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  else:
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  return {}
 
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  "Image 1 - Keypoints",
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  ]
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  output_keypoints = plot_images([image0, image1], titles=titles, dpi=300)
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+ if "keypoints0" in pred.keys() and "keypoints1" in pred.keys():
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+ plot_keypoints([pred["keypoints0"], pred["keypoints1"]])
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+ text = (
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+ f"# keypoints0: {len(pred['keypoints0'])} \n"
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+ + f"# keypoints1: {len(pred['keypoints1'])}"
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+ )
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+ add_text(0, text, fs=15)
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  output_keypoints = fig2im(output_keypoints)
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  # plot images with raw matches