def test_homog_errors(H,
kpts1,
kpts2,
fm,
xy_thresh_sqrd,
scale_thresh,
ori_thresh,
full_homog_checks=True):
r"""
Test to see which keypoints the homography correctly maps
Args:
H (ndarray[float64_t, ndim=2]): homography/perspective matrix
kpts1 (ndarray[float32_t, ndim=2]): keypoints
kpts2 (ndarray[float32_t, ndim=2]): keypoints
fm (list): list of feature matches as tuples (qfx, dfx)
xy_thresh_sqrd (float):
scale_thresh (float):
ori_thresh (float): angle in radians
full_homog_checks (bool):
Returns:
tuple: homog_tup1
CommandLine:
python -m vtool.spatial_verification --test-test_homog_errors:0 --show
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --rotation_invariance
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --rotation_invariance --no-affine-invariance --xy-thresh=.001
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --rotation_invariance --no-affine-invariance --xy-thresh=.001 --no-full-homog-checks
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --no-full-homog-checks
# --------------
# Shows (sorta) how inliers are computed
python -m vtool.spatial_verification --test-test_homog_errors:1 --show
python -m vtool.spatial_verification --test-test_homog_errors:1 --show --rotation_invariance
python -m vtool.spatial_verification --test-test_homog_errors:1 --show --rotation_invariance --no-affine-invariance --xy-thresh=.001
python -m vtool.spatial_verification --test-test_homog_errors:1 --show --rotation_invariance --xy-thresh=.001
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --rotation_invariance --xy-thresh=.001
Example0:
>>> # DISABLE_DOCTEST
>>> from vtool.spatial_verification import * # NOQA
>>> import plottool as pt
>>> kpts1, kpts2, fm, aff_inliers, rchip1, rchip2, xy_thresh_sqrd = testdata_matching_affine_inliers()
>>> H = estimate_refined_transform(kpts1, kpts2, fm, aff_inliers)
>>> scale_thresh, ori_thresh = 2.0, 1.57
>>> full_homog_checks = not ut.get_argflag('--no-full-homog-checks')
>>> homog_tup1 = test_homog_errors(H, kpts1, kpts2, fm, xy_thresh_sqrd, scale_thresh, ori_thresh, full_homog_checks)
>>> homog_tup = (homog_tup1[0], homog_tup1[2])
>>> ut.quit_if_noshow()
>>> pt.draw_sv.show_sv(rchip1, rchip2, kpts1, kpts2, fm, homog_tup=homog_tup)
>>> ut.show_if_requested()
Example1:
>>> # DISABLE_DOCTEST
>>> from vtool.spatial_verification import * # NOQA
>>> import plottool as pt
>>> kpts1, kpts2, fm_, aff_inliers, rchip1, rchip2, xy_thresh_sqrd = testdata_matching_affine_inliers()
>>> H = estimate_refined_transform(kpts1, kpts2, fm_, aff_inliers)
>>> scale_thresh, ori_thresh = 2.0, 1.57
>>> full_homog_checks = not ut.get_argflag('--no-full-homog-checks')
>>> # ----------------
>>> # Take subset of feature matches
>>> fm = fm_
>>> scale_err, xy_err, ori_err = \
... ut.exec_func_src(test_homog_errors, globals(), locals(),
... 'scale_err, xy_err, ori_err'.split(', '))
>>> # we only care about checking out scale and orientation here. ignore bad xy points
>>> xy_inliers_flag = np.less(xy_err, xy_thresh_sqrd)
>>> scale_err[~xy_inliers_flag] = 0
>>> # filter
>>> fm = fm_[np.array(scale_err).argsort()[::-1][:10]]
>>> fm = fm_[np.array(scale_err).argsort()[::-1][:10]]
>>> # Exec sourcecode
>>> kpts1_m, kpts2_m, off_xy1_m, off_xy1_mt, dxy1_m, dxy1_mt, xy2_m, xy1_m, xy1_mt, scale_err, xy_err, ori_err = \
... ut.exec_func_src(test_homog_errors, globals(), locals(),
... 'kpts1_m, kpts2_m, off_xy1_m, off_xy1_mt, dxy1_m, dxy1_mt, xy2_m, xy1_m, xy1_mt, scale_err, xy_err, ori_err'.split(', '))
>>> #---------------
>>> ut.quit_if_noshow()
>>> pt.figure(fnum=1, pnum=(1, 2, 1), title='orig points and offset point')
>>> segments_list1 = np.array(list(zip(xy1_m.T.tolist(), off_xy1_m.T.tolist())))
>>> pt.draw_line_segments(segments_list1, color=pt.LIGHT_BLUE)
>>> pt.dark_background()
>>> #---------------
>>> pt.figure(fnum=1, pnum=(1, 2, 2), title='transformed points and matching points')
>>> #---------------
>>> # first have to make corresponding offset points
>>> # Use reference point for scale and orientation tests
>>> oris2_m = ktool.get_oris(kpts2_m)
>>> scales2_m = ktool.get_scales(kpts2_m)
>>> dxy2_m = np.vstack((np.sin(oris2_m), -np.cos(oris2_m)))
>>> scaled_dxy2_m = dxy2_m * scales2_m[None, :]
>>> off_xy2_m = xy2_m + scaled_dxy2_m
>>> # Draw transformed semgents
>>> segments_list2 = np.array(list(zip(xy2_m.T.tolist(), off_xy2_m.T.tolist())))
>>> pt.draw_line_segments(segments_list2, color=pt.GREEN)
>>> # Draw corresponding matches semgents
>>> segments_list3 = np.array(list(zip(xy1_mt.T.tolist(), off_xy1_mt.T.tolist())))
>>> pt.draw_line_segments(segments_list3, color=pt.RED)
>>> # Draw matches between correspondences
>>> segments_list4 = np.array(list(zip(xy1_mt.T.tolist(), xy2_m.T.tolist())))
>>> pt.draw_line_segments(segments_list4, color=pt.ORANGE)
>>> pt.dark_background()
>>> #---------------
>>> #vt.get _xy_axis_extents(kpts1_m)
>>> #pt.draw_sv.show_sv(rchip1, rchip2, kpts1, kpts2, fm, homog_tup=homog_tup)
>>> ut.show_if_requested()
"""
kpts1_m = kpts1.take(fm.T[0], axis=0)
kpts2_m = kpts2.take(fm.T[1], axis=0)
# Transform all xy1 matches to xy2 space
xy1_m = ktool.get_xys(kpts1_m)
#with ut.embed_on_exception_context:
xy1_mt = ltool.transform_points_with_homography(H, xy1_m)
#xy1_mt = ktool.transform_kpts_xys(H, kpts1_m)
xy2_m = ktool.get_xys(kpts2_m)
# --- Find (Squared) Homography Distance Error ---
# You cannot test for scale or orientation easily here because
# you no longer have an ellipse? (maybe, probably have a conic) when using a
# projective transformation
xy_err = dtool.L2_sqrd(xy1_mt.T, xy2_m.T)
# Estimate final inliers
#ut.embed()
if full_homog_checks:
# TODO: may need to use more than one reference point
# Use reference point for scale and orientation tests
oris1_m = ktool.get_oris(kpts1_m)
scales1_m = ktool.get_scales(kpts1_m)
# Get point offsets with unit length
dxy1_m = np.vstack((np.sin(oris1_m), -np.cos(oris1_m)))
scaled_dxy1_m = dxy1_m * scales1_m[None, :]
off_xy1_m = xy1_m + scaled_dxy1_m
# transform reference point
off_xy1_mt = ltool.transform_points_with_homography(H, off_xy1_m)
scaled_dxy1_mt = xy1_mt - off_xy1_mt
scales1_mt = npl.norm(scaled_dxy1_mt, axis=0)
#with warnings.catch_warnings():
# warnings.simplefilter("ignore")
dxy1_mt = scaled_dxy1_mt / scales1_mt
# adjust for gravity vector being 0
oris1_mt = np.arctan2(dxy1_mt[1], dxy1_mt[0]) - ktool.GRAVITY_THETA
_det1_mt = scales1_mt**2
det2_m = ktool.get_sqrd_scales(kpts2_m)
ori2_m = ktool.get_oris(kpts2_m)
#xy_err = dtool.L2_sqrd(xy2_m.T, _xy1_mt.T)
scale_err = dtool.det_distance(_det1_mt, det2_m)
ori_err = dtool.ori_distance(oris1_mt, ori2_m)
###
xy_inliers_flag = np.less(xy_err, xy_thresh_sqrd)
scale_inliers_flag = np.less(scale_err, scale_thresh)
ori_inliers_flag = np.less(ori_err, ori_thresh)
hypo_inliers_flag = xy_inliers_flag # Try to re-use memory
np.logical_and(hypo_inliers_flag,
ori_inliers_flag,
out=hypo_inliers_flag)
np.logical_and(hypo_inliers_flag,
scale_inliers_flag,
out=hypo_inliers_flag)
# Seems slower due to memory
#hypo_inliers_flag = np.logical_and.reduce(
# [xy_inliers_flag, ori_inliers_flag, scale_inliers_flag])
# this is also slower
#hypo_inliers_flag = np.logical_and.reduce((xy_inliers_flag,
#ori_inliers_flag, scale_inliers_flag), out=xy_inliers_flag)
refined_inliers = np.where(hypo_inliers_flag)[0].astype(INDEX_DTYPE)
refined_errors = (xy_err, ori_err, scale_err)
else:
refined_inliers = np.where(
xy_err < xy_thresh_sqrd)[0].astype(INDEX_DTYPE)
refined_errors = (xy_err, None, None)
homog_tup1 = (refined_inliers, refined_errors, H)
return homog_tup1
def test_homog_errors(H, kpts1, kpts2, fm, xy_thresh_sqrd, scale_thresh,
ori_thresh, full_homog_checks=True):
r"""
Test to see which keypoints the homography correctly maps
Args:
H (ndarray[float64_t, ndim=2]): homography/perspective matrix
kpts1 (ndarray[float32_t, ndim=2]): keypoints
kpts2 (ndarray[float32_t, ndim=2]): keypoints
fm (list): list of feature matches as tuples (qfx, dfx)
xy_thresh_sqrd (float):
scale_thresh (float):
ori_thresh (float): angle in radians
full_homog_checks (bool):
Returns:
tuple: homog_tup1
CommandLine:
python -m vtool.spatial_verification --test-test_homog_errors:0 --show
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --rotation_invariance
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --rotation_invariance --no-affine-invariance --xy-thresh=.001
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --rotation_invariance --no-affine-invariance --xy-thresh=.001 --no-full-homog-checks
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --no-full-homog-checks
# --------------
# Shows (sorta) how inliers are computed
python -m vtool.spatial_verification --test-test_homog_errors:1 --show
python -m vtool.spatial_verification --test-test_homog_errors:1 --show --rotation_invariance
python -m vtool.spatial_verification --test-test_homog_errors:1 --show --rotation_invariance --no-affine-invariance --xy-thresh=.001
python -m vtool.spatial_verification --test-test_homog_errors:1 --show --rotation_invariance --xy-thresh=.001
python -m vtool.spatial_verification --test-test_homog_errors:0 --show --rotation_invariance --xy-thresh=.001
Example0:
>>> # DISABLE_DOCTEST
>>> from vtool.spatial_verification import * # NOQA
>>> import plottool as pt
>>> kpts1, kpts2, fm, aff_inliers, rchip1, rchip2, xy_thresh_sqrd = testdata_matching_affine_inliers()
>>> H = estimate_refined_transform(kpts1, kpts2, fm, aff_inliers)
>>> scale_thresh, ori_thresh = 2.0, 1.57
>>> full_homog_checks = not ut.get_argflag('--no-full-homog-checks')
>>> homog_tup1 = test_homog_errors(H, kpts1, kpts2, fm, xy_thresh_sqrd, scale_thresh, ori_thresh, full_homog_checks)
>>> homog_tup = (homog_tup1[0], homog_tup1[2])
>>> ut.quit_if_noshow()
>>> pt.draw_sv.show_sv(rchip1, rchip2, kpts1, kpts2, fm, homog_tup=homog_tup)
>>> ut.show_if_requested()
Example1:
>>> # DISABLE_DOCTEST
>>> from vtool.spatial_verification import * # NOQA
>>> import plottool as pt
>>> kpts1, kpts2, fm_, aff_inliers, rchip1, rchip2, xy_thresh_sqrd = testdata_matching_affine_inliers()
>>> H = estimate_refined_transform(kpts1, kpts2, fm_, aff_inliers)
>>> scale_thresh, ori_thresh = 2.0, 1.57
>>> full_homog_checks = not ut.get_argflag('--no-full-homog-checks')
>>> # ----------------
>>> # Take subset of feature matches
>>> fm = fm_
>>> scale_err, xy_err, ori_err = \
... ut.exec_func_src(test_homog_errors, globals(), locals(),
... 'scale_err, xy_err, ori_err'.split(', '))
>>> # we only care about checking out scale and orientation here. ignore bad xy points
>>> xy_inliers_flag = np.less(xy_err, xy_thresh_sqrd)
>>> scale_err[~xy_inliers_flag] = 0
>>> # filter
>>> fm = fm_[np.array(scale_err).argsort()[::-1][:10]]
>>> fm = fm_[np.array(scale_err).argsort()[::-1][:10]]
>>> # Exec sourcecode
>>> kpts1_m, kpts2_m, off_xy1_m, off_xy1_mt, dxy1_m, dxy1_mt, xy2_m, xy1_m, xy1_mt, scale_err, xy_err, ori_err = \
... ut.exec_func_src(test_homog_errors, globals(), locals(),
... 'kpts1_m, kpts2_m, off_xy1_m, off_xy1_mt, dxy1_m, dxy1_mt, xy2_m, xy1_m, xy1_mt, scale_err, xy_err, ori_err'.split(', '))
>>> #---------------
>>> ut.quit_if_noshow()
>>> pt.figure(fnum=1, pnum=(1, 2, 1), title='orig points and offset point')
>>> segments_list1 = np.array(list(zip(xy1_m.T.tolist(), off_xy1_m.T.tolist())))
>>> pt.draw_line_segments(segments_list1, color=pt.LIGHT_BLUE)
>>> pt.dark_background()
>>> #---------------
>>> pt.figure(fnum=1, pnum=(1, 2, 2), title='transformed points and matching points')
>>> #---------------
>>> # first have to make corresponding offset points
>>> # Use reference point for scale and orientation tests
>>> oris2_m = ktool.get_oris(kpts2_m)
>>> scales2_m = ktool.get_scales(kpts2_m)
>>> dxy2_m = np.vstack((np.sin(oris2_m), -np.cos(oris2_m)))
>>> scaled_dxy2_m = dxy2_m * scales2_m[None, :]
>>> off_xy2_m = xy2_m + scaled_dxy2_m
>>> # Draw transformed semgents
>>> segments_list2 = np.array(list(zip(xy2_m.T.tolist(), off_xy2_m.T.tolist())))
>>> pt.draw_line_segments(segments_list2, color=pt.GREEN)
>>> # Draw corresponding matches semgents
>>> segments_list3 = np.array(list(zip(xy1_mt.T.tolist(), off_xy1_mt.T.tolist())))
>>> pt.draw_line_segments(segments_list3, color=pt.RED)
>>> # Draw matches between correspondences
>>> segments_list4 = np.array(list(zip(xy1_mt.T.tolist(), xy2_m.T.tolist())))
>>> pt.draw_line_segments(segments_list4, color=pt.ORANGE)
>>> pt.dark_background()
>>> #---------------
>>> #vt.get _xy_axis_extents(kpts1_m)
>>> #pt.draw_sv.show_sv(rchip1, rchip2, kpts1, kpts2, fm, homog_tup=homog_tup)
>>> ut.show_if_requested()
"""
kpts1_m = kpts1.take(fm.T[0], axis=0)
kpts2_m = kpts2.take(fm.T[1], axis=0)
# Transform all xy1 matches to xy2 space
xy1_m = ktool.get_xys(kpts1_m)
#with ut.embed_on_exception_context:
xy1_mt = ltool.transform_points_with_homography(H, xy1_m)
#xy1_mt = ktool.transform_kpts_xys(H, kpts1_m)
xy2_m = ktool.get_xys(kpts2_m)
# --- Find (Squared) Homography Distance Error ---
# You cannot test for scale or orientation easily here because
# you no longer have an ellipse? (maybe, probably have a conic) when using a
# projective transformation
xy_err = dtool.L2_sqrd(xy1_mt.T, xy2_m.T)
# Estimate final inliers
#ut.embed()
if full_homog_checks:
# TODO: may need to use more than one reference point
# Use reference point for scale and orientation tests
oris1_m = ktool.get_oris(kpts1_m)
scales1_m = ktool.get_scales(kpts1_m)
# Get point offsets with unit length
dxy1_m = np.vstack((np.sin(oris1_m), -np.cos(oris1_m)))
scaled_dxy1_m = dxy1_m * scales1_m[None, :]
off_xy1_m = xy1_m + scaled_dxy1_m
# transform reference point
off_xy1_mt = ltool.transform_points_with_homography(H, off_xy1_m)
scaled_dxy1_mt = xy1_mt - off_xy1_mt
scales1_mt = npl.norm(scaled_dxy1_mt, axis=0)
#with warnings.catch_warnings():
# warnings.simplefilter("ignore")
dxy1_mt = scaled_dxy1_mt / scales1_mt
# adjust for gravity vector being 0
oris1_mt = np.arctan2(dxy1_mt[1], dxy1_mt[0]) - ktool.GRAVITY_THETA
_det1_mt = scales1_mt ** 2
det2_m = ktool.get_sqrd_scales(kpts2_m)
ori2_m = ktool.get_oris(kpts2_m)
#xy_err = dtool.L2_sqrd(xy2_m.T, _xy1_mt.T)
scale_err = dtool.det_distance(_det1_mt, det2_m)
ori_err = dtool.ori_distance(oris1_mt, ori2_m)
###
xy_inliers_flag = np.less(xy_err, xy_thresh_sqrd)
scale_inliers_flag = np.less(scale_err, scale_thresh)
ori_inliers_flag = np.less(ori_err, ori_thresh)
hypo_inliers_flag = xy_inliers_flag # Try to re-use memory
np.logical_and(hypo_inliers_flag, ori_inliers_flag, out=hypo_inliers_flag)
np.logical_and(hypo_inliers_flag, scale_inliers_flag, out=hypo_inliers_flag)
# Seems slower due to memory
#hypo_inliers_flag = np.logical_and.reduce(
# [xy_inliers_flag, ori_inliers_flag, scale_inliers_flag])
# this is also slower
#hypo_inliers_flag = np.logical_and.reduce((xy_inliers_flag,
#ori_inliers_flag, scale_inliers_flag), out=xy_inliers_flag)
refined_inliers = np.where(hypo_inliers_flag)[0].astype(INDEX_DTYPE)
refined_errors = (xy_err, ori_err, scale_err)
else:
refined_inliers = np.where(xy_err < xy_thresh_sqrd)[0].astype(INDEX_DTYPE)
refined_errors = (xy_err, None, None)
homog_tup1 = (refined_inliers, refined_errors, H)
return homog_tup1
def _test_hypothesis_inliers(Aff, invVR1s_m, xy2_m, det2_m, ori2_m,
xy_thresh_sqrd, scale_thresh_sqrd, ori_thresh):
"""
Critical section code. Inner loop of _test_hypothesis_inliers
CommandLine:
python -m vtool.spatial_verification --test-_test_hypothesis_inliers
Example:
>>> # ENABLE_DOCTEST
>>> from vtool.spatial_verification import * # NOQA
>>> from vtool.spatial_verification import _test_hypothesis_inliers # NOQA
>>> import vtool.tests.dummy as dummy
>>> import vtool.keypoint as ktool
>>> _kw1 = dict(seed=12, damping=1.2, wh_stride=(30, 30))
>>> _kw2 = dict(seed=24, damping=1.6, wh_stride=(30, 30))
>>> kpts1 = dummy.perterbed_grid_kpts(**_kw1).astype(np.float64)
>>> kpts2 = dummy.perterbed_grid_kpts(**_kw2).astype(np.float64)
>>> fm = dummy.make_dummy_fm(len(kpts1)).astype(np.int32)
>>> kpts1_m = kpts1[fm.T[0]]
>>> kpts2_m = kpts2[fm.T[1]]
>>> xy_thresh_sqrd = np.float64(.009) ** 2
>>> scale_thresh_sqrd = np.float64(2)
>>> ori_thresh = np.float64(TAU / 4)
>>> # Get keypoints to project in matrix form
>>> #invVR1s_m = ktool.get_invV_mats(kpts1_m, with_trans=True, with_ori=True)
>>> #print(invVR1s_m[0])
>>> invVR1s_m = ktool.get_invVR_mats3x3(kpts1_m)
>>> RV1s_m = ktool.get_RV_mats_3x3(kpts1_m)
>>> invVR2s_m = ktool.get_invVR_mats3x3(kpts2_m)
>>> # The transform from kp1 to kp2 is given as:
>>> Aff_mats = matrix_multiply(invVR2s_m, RV1s_m)
>>> Aff = Aff_mats[0]
>>> # Get components to test projects against
>>> xy2_m = ktool.get_invVR_mats_xys(invVR2s_m)
>>> det2_m = ktool.get_sqrd_scales(kpts2_m)
>>> ori2_m = ktool.get_invVR_mats_oris(invVR2s_m)
>>> output = _test_hypothesis_inliers(Aff, invVR1s_m, xy2_m, det2_m, ori2_m, xy_thresh_sqrd, scale_thresh_sqrd, ori_thresh)
>>> result = ut.hashstr(output)
>>> print(result)
+%q&%je52nlyli5&
Timeit:
%timeit xy_err < xy_thresh_sqrd
%timeit np.less(xy_err, xy_thresh_sqrd)
"""
# Map keypoints from image 1 onto image 2
invVR1s_mt = matrix_multiply(Aff, invVR1s_m)
# Get projection components
_xy1_mt = ktool.get_invVR_mats_xys(invVR1s_mt)
_det1_mt = ktool.get_invVR_mats_sqrd_scale(invVR1s_mt)
_ori1_mt = ktool.get_invVR_mats_oris(invVR1s_mt)
## Check for projection errors
xy_err = dtool.L2_sqrd(xy2_m.T, _xy1_mt.T, dtype=SV_DTYPE)
scale_err = dtool.det_distance(_det1_mt, det2_m)
ori_err = dtool.ori_distance(_ori1_mt, ori2_m)
# Mark keypoints which are inliers to this hypothosis
xy_inliers_flag = np.less(xy_err, xy_thresh_sqrd)
scale_inliers_flag = np.less(scale_err, scale_thresh_sqrd)
ori_inliers_flag = np.less(ori_err, ori_thresh)
#np.logical_and(xy_inliers_flag, scale_inliers_flag)
# TODO Add uniqueness of matches constraint
#hypo_inliers_flag = np.empty(xy_inliers_flag.size, dtype=np.bool)
hypo_inliers_flag = xy_inliers_flag # Try to re-use memory
np.logical_and(hypo_inliers_flag, ori_inliers_flag, out=hypo_inliers_flag)
np.logical_and(hypo_inliers_flag,
scale_inliers_flag,
out=hypo_inliers_flag)
#hypo_inliers_flag = np.logical_and.reduce(
# [xy_inliers_flag, ori_inliers_flag, scale_inliers_flag])
# this is also slower
hypo_inliers = np.where(hypo_inliers_flag)[0]
hypo_errors = (xy_err, ori_err, scale_err)
return hypo_inliers, hypo_errors
def _test_hypothesis_inliers(Aff, invVR1s_m, xy2_m, det2_m, ori2_m,
xy_thresh_sqrd, scale_thresh_sqrd, ori_thresh):
"""
Critical section code. Inner loop of _test_hypothesis_inliers
CommandLine:
python -m vtool.spatial_verification --test-_test_hypothesis_inliers
Example:
>>> # ENABLE_DOCTEST
>>> from vtool.spatial_verification import * # NOQA
>>> from vtool.spatial_verification import _test_hypothesis_inliers # NOQA
>>> import vtool.tests.dummy as dummy
>>> import vtool.keypoint as ktool
>>> _kw1 = dict(seed=12, damping=1.2, wh_stride=(30, 30))
>>> _kw2 = dict(seed=24, damping=1.6, wh_stride=(30, 30))
>>> kpts1 = dummy.perterbed_grid_kpts(**_kw1).astype(np.float64)
>>> kpts2 = dummy.perterbed_grid_kpts(**_kw2).astype(np.float64)
>>> fm = dummy.make_dummy_fm(len(kpts1)).astype(np.int32)
>>> kpts1_m = kpts1[fm.T[0]]
>>> kpts2_m = kpts2[fm.T[1]]
>>> xy_thresh_sqrd = np.float64(.009) ** 2
>>> scale_thresh_sqrd = np.float64(2)
>>> ori_thresh = np.float64(TAU / 4)
>>> # Get keypoints to project in matrix form
>>> #invVR1s_m = ktool.get_invV_mats(kpts1_m, with_trans=True, with_ori=True)
>>> #print(invVR1s_m[0])
>>> invVR1s_m = ktool.get_invVR_mats3x3(kpts1_m)
>>> RV1s_m = ktool.get_RV_mats_3x3(kpts1_m)
>>> invVR2s_m = ktool.get_invVR_mats3x3(kpts2_m)
>>> # The transform from kp1 to kp2 is given as:
>>> Aff_mats = matrix_multiply(invVR2s_m, RV1s_m)
>>> Aff = Aff_mats[0]
>>> # Get components to test projects against
>>> xy2_m = ktool.get_invVR_mats_xys(invVR2s_m)
>>> det2_m = ktool.get_sqrd_scales(kpts2_m)
>>> ori2_m = ktool.get_invVR_mats_oris(invVR2s_m)
>>> output = _test_hypothesis_inliers(Aff, invVR1s_m, xy2_m, det2_m, ori2_m, xy_thresh_sqrd, scale_thresh_sqrd, ori_thresh)
>>> result = ut.hashstr(output)
>>> print(result)
+%q&%je52nlyli5&
Timeit:
%timeit xy_err < xy_thresh_sqrd
%timeit np.less(xy_err, xy_thresh_sqrd)
"""
# Map keypoints from image 1 onto image 2
invVR1s_mt = matrix_multiply(Aff, invVR1s_m)
# Get projection components
_xy1_mt = ktool.get_invVR_mats_xys(invVR1s_mt)
_det1_mt = ktool.get_invVR_mats_sqrd_scale(invVR1s_mt)
_ori1_mt = ktool.get_invVR_mats_oris(invVR1s_mt)
## Check for projection errors
xy_err = dtool.L2_sqrd(xy2_m.T, _xy1_mt.T, dtype=SV_DTYPE)
scale_err = dtool.det_distance(_det1_mt, det2_m)
ori_err = dtool.ori_distance(_ori1_mt, ori2_m)
# Mark keypoints which are inliers to this hypothosis
xy_inliers_flag = np.less(xy_err, xy_thresh_sqrd)
scale_inliers_flag = np.less(scale_err, scale_thresh_sqrd)
ori_inliers_flag = np.less(ori_err, ori_thresh)
#np.logical_and(xy_inliers_flag, scale_inliers_flag)
# TODO Add uniqueness of matches constraint
#hypo_inliers_flag = np.empty(xy_inliers_flag.size, dtype=np.bool)
hypo_inliers_flag = xy_inliers_flag # Try to re-use memory
np.logical_and(hypo_inliers_flag, ori_inliers_flag, out=hypo_inliers_flag)
np.logical_and(hypo_inliers_flag, scale_inliers_flag, out=hypo_inliers_flag)
#hypo_inliers_flag = np.logical_and.reduce(
# [xy_inliers_flag, ori_inliers_flag, scale_inliers_flag])
# this is also slower
hypo_inliers = np.where(hypo_inliers_flag)[0]
hypo_errors = (xy_err, ori_err, scale_err)
return hypo_inliers, hypo_errors
