def match(self, af0, af1):
Xs = vop.array([k[0] for k in af1.kp])
Ys = vop.array([k[1] for k in af1.kp])
pairs = []
for (i, (ki, di)) in enumerate(zip(af0.kp, af0.descriptors)):
# hits = (Numeric.logical_and(Numeric.absolute(NXs - ki[0]) < 64, Numeric.absolute(NYs - ki[1]) < 32)).astype(Numeric.UnsignedInt8).tostring()
predX = (abs(Xs - ki[0]) < 64)
predY = (abs(Ys - ki[1]) < 32)
hits = vop.where(predX & predY, 1, 0).tostring()
best = VO.sad_search(di, af1.descriptors, hits)
if best != None:
pairs.append((i, best, 0))
return pairs
def match(self, af0, af1):
Xs = vop.array([k[0] for k in af1.kp])
Ys = vop.array([k[1] for k in af1.kp])
pairs = []
for (i,(ki,di)) in enumerate(zip(af0.kp,af0.descriptors)):
# hits = (Numeric.logical_and(Numeric.absolute(NXs - ki[0]) < 64, Numeric.absolute(NYs - ki[1]) < 32)).astype(Numeric.UnsignedInt8).tostring()
predX = (abs(Xs - ki[0]) < 64)
predY = (abs(Ys - ki[1]) < 32)
hits = vop.where(predX & predY, 1, 0).tostring()
best = VO.sad_search(di, af1.descriptors, hits)
if best != None:
pairs.append((i, best, 0))
return pairs
def do_stereo_sparse(refpat, rgrad, x, y, xim, yim, ftzero, dlen, tfilter_thresh, ufilter_thresh):
if x < dlen or y < 7 or y > (yim - 8):
return -1
tiles = [VO.grab_16x16(rgrad, xim, (x - dlen + 1) + i - 7, y - 7) for i in range(dlen)]
ind = VO.sad_search(refpat, tiles, chr(1) * dlen)
# do interpolation
if ind == 0 or ind == (dlen - 1):
return (dlen - ind - 1) * 16
c = VO.sad(refpat, tiles[ind])
p = VO.sad(refpat, tiles[ind + 1])
n = VO.sad(refpat, tiles[ind - 1])
v = float(dlen - ind - 1) + (p - n) / (2 * (p + n - 2 * c))
return 0.5 + 16 * v
def do_stereo_sparse(refpat, rgrad, x, y, xim, yim, ftzero, dlen,
tfilter_thresh, ufilter_thresh):
if x < dlen or y < 7 or y > (yim - 8):
return -1
tiles = [
VO.grab_16x16(rgrad, xim, (x - dlen + 1) + i - 7, y - 7)
for i in range(dlen)
]
ind = VO.sad_search(refpat, tiles, chr(1) * dlen)
# do interpolation
if (ind == 0 or ind == (dlen - 1)):
return (dlen - ind - 1) * 16
c = VO.sad(refpat, tiles[ind])
p = VO.sad(refpat, tiles[ind + 1])
n = VO.sad(refpat, tiles[ind - 1])
v = float(dlen - ind - 1) + (p - n) / (2 * (p + n - 2 * c))
return (0.5 + 16 * v)
