def perterb_kpts(kpts, xy_std=None, invV_std=None, ori_std=None, damping=None,
seed=None, **kwargs):
""" Adds normally distributed pertibations to keypoints """
# TODO: Move to ktool
# Get standard deviations of pertibations
if xy_std is None:
xy_std = ktool.get_xys(kpts).std(1) + mtool.eps
if invV_std is None:
invV_std = ktool.get_invVs(kpts).std(1) + mtool.eps
if ori_std is None:
ori_std = ktool.get_oris(kpts).std() + mtool.eps
xy_std = np.array(xy_std, dtype=ktool.KPTS_DTYPE)
invV_std = np.array(invV_std, dtype=ktool.KPTS_DTYPE)
if damping is not None:
xy_std /= damping
invV_std /= damping
ori_std /= damping
if seed is not None:
np.random.seed(seed)
# Create normally distributed pertibations
xy_aug = np.random.normal(0, scale=xy_std, size=(len(kpts), 2)).astype(ktool.KPTS_DTYPE)
try:
invV_aug = np.random.normal(0, scale=invV_std, size=(len(kpts), 3)).astype(ktool.KPTS_DTYPE)
except ValueError as ex:
ut.printex(ex, key_list=[(type, 'invV_std')])
raise
ori_aug = np.random.normal(0, scale=ori_std, size=(len(kpts), 1)).astype(ktool.KPTS_DTYPE)
# Augment keypoints
aug = np.hstack((xy_aug, invV_aug, ori_aug))
kpts_ = kpts + aug
# Ensure keypoint feasibility
kpts_ = force_kpts_feasibility(kpts_)
#print(ut.dict_str({key: type(val) if not isinstance(val, np.ndarray) else val.dtype for key, val in locals().items()}))
#assert kpts_.dtype == ktool.KPTS_DTYPE, 'bad cast somewhere kpts_.dtype=%r' % (kpts_.dtype)
return kpts_
def kp_info(kp):
kpts = np.array([kp])
xy_str = ktool.get_xy_strs(kpts)[0]
shape_str = ktool.get_shape_strs(kpts)[0]
ori_ = ktool.get_oris(kpts)[0]
ori_str = 'ori=%.2f' % ori_
scale = ktool.get_scales(kpts)[0]
return xy_str, shape_str, scale, ori_str
def kp_info(kp):
kpts = np.array([kp])
xy_str = ktool.get_xy_strs(kpts)[0]
shape_str = ktool.get_shape_strs(kpts)[0]
ori_ = ktool.get_oris(kpts)[0]
ori_str = 'ori=%.2f' % ori_
scale = ktool.get_scales(kpts)[0]
return xy_str, shape_str, scale, ori_str
def orientation_actors(kpts, H=None):
""" creates orientation actors w.r.t. the gravity vector """
import vtool.keypoint as ktool
try:
# Get xy diretion of the keypoint orientations
_xs, _ys = ktool.get_xys(kpts)
_iv11s, _iv21s, _iv22s = ktool.get_invVs(kpts)
_oris = ktool.get_oris(kpts)
# mpl's 0 ori == (-tau / 4) w.r.t GRAVITY_THETA
abs_oris = _oris + ktool.GRAVITY_THETA
_sins = np.sin(abs_oris)
_coss = np.cos(abs_oris)
# The following is essentially
# invV.dot(R)
_dxs = _coss * _iv11s
_dys = _coss * _iv21s + _sins * _iv22s
# ut.embed()
# if H is not None:
# # adjust for homogrpahy
# import vtool as vt
# _xs, _ys = vt.transform_points_with_homography(H, np.vstack((_xs, _ys)))
# _dxs, _dys = vt.transform_points_with_homography(H, np.vstack((_dxs, _dys)))
# head_width_list = np.log(_iv11s * _iv22s) / 5
head_width_list = np.ones(len(_iv11s)) / 10
kwargs = {
'length_includes_head': True,
'shape': 'full',
'overhang': 0,
'head_starts_at_zero': False,
}
if H is not None:
kwargs['transform'] = HomographyTransform(H)
ori_actors = [
mpl.patches.FancyArrow(x, y, dx, dy, head_width=hw, **kwargs)
for (x, y, dx, dy,
hw) in zip(_xs, _ys, _dxs, _dys, head_width_list)
]
except ValueError as ex:
print('\n[mplkp.2] !!! ERROR %s: ' % str(ex))
print('_oris.shape = %r' % (_oris.shape, ))
# print('x, y, dx, dy = %r' % ((x, y, dx, dy),))
print('_dxs = %r' % (_dxs, ))
print('_dys = %r' % (_dys, ))
print('_xs = %r' % (_xs, ))
print('_ys = %r' % (_ys, ))
raise
return ori_actors
def orientation_actors(kpts, H=None):
""" creates orientation actors w.r.t. the gravity vector """
try:
# Get xy diretion of the keypoint orientations
_xs, _ys = ktool.get_xys(kpts)
_iv11s, _iv21s, _iv22s = ktool.get_invVs(kpts)
_oris = ktool.get_oris(kpts)
# mpl's 0 ori == (-tau / 4) w.r.t GRAVITY_THETA
abs_oris = _oris + ktool.GRAVITY_THETA
_sins = np.sin(abs_oris)
_coss = np.cos(abs_oris)
# The following is essentially
# invV.dot(R)
_dxs = _coss * _iv11s
_dys = _coss * _iv21s + _sins * _iv22s
#ut.embed()
#if H is not None:
# # adjust for homogrpahy
# import vtool as vt
# _xs, _ys = vt.transform_points_with_homography(H, np.vstack((_xs, _ys)))
# _dxs, _dys = vt.transform_points_with_homography(H, np.vstack((_dxs, _dys)))
#head_width_list = np.log(_iv11s * _iv22s) / 5
head_width_list = np.ones(len(_iv11s)) / 10
kwargs = {
'length_includes_head': True,
'shape': 'full',
'overhang': 0,
'head_starts_at_zero': False,
}
if H is not None:
kwargs['transform'] = HomographyTransform(H)
ori_actors = [mpl.patches.FancyArrow(x, y, dx, dy, head_width=hw, **kwargs)
for (x, y, dx, dy, hw) in
zip(_xs, _ys, _dxs, _dys, head_width_list)]
except ValueError as ex:
print('\n[mplkp.2] !!! ERROR %s: ' % str(ex))
print('_oris.shape = %r' % (_oris.shape,))
print('x, y, dx, dy = %r' % ((x, y, dx, dy),))
print('_dxs = %r' % (_dxs,))
print('_dys = %r' % (_dys,))
print('_xs = %r' % (_xs,))
print('_ys = %r' % (_ys,))
raise
return ori_actors
def test_affine_errors(H, kpts1, kpts2, fm, xy_thresh_sqrd, scale_thresh_sqrd,
ori_thresh):
"""
used for refinement as opposed to initial estimation
"""
kpts1_m = kpts1.take(fm.T[0], axis=0)
kpts2_m = kpts2.take(fm.T[1], axis=0)
invVR1s_m = ktool.get_invVR_mats3x3(kpts1_m)
xy2_m = ktool.get_xys(kpts2_m)
det2_m = ktool.get_sqrd_scales(kpts2_m)
ori2_m = ktool.get_oris(kpts2_m)
refined_inliers, refined_errors = _test_hypothesis_inliers(
H, invVR1s_m, xy2_m, det2_m, ori2_m, xy_thresh_sqrd, scale_thresh_sqrd,
ori_thresh)
refined_tup1 = (refined_inliers, refined_errors, H)
return refined_tup1
def test_affine_errors(H, kpts1, kpts2, fm, xy_thresh_sqrd, scale_thresh_sqrd,
ori_thresh):
"""
used for refinement as opposed to initial estimation
"""
kpts1_m = kpts1.take(fm.T[0], axis=0)
kpts2_m = kpts2.take(fm.T[1], axis=0)
invVR1s_m = ktool.get_invVR_mats3x3(kpts1_m)
xy2_m = ktool.get_xys(kpts2_m)
det2_m = ktool.get_sqrd_scales(kpts2_m)
ori2_m = ktool.get_oris(kpts2_m)
refined_inliers, refined_errors = _test_hypothesis_inliers(
H, invVR1s_m, xy2_m, det2_m, ori2_m, xy_thresh_sqrd, scale_thresh_sqrd,
ori_thresh)
refined_tup1 = (refined_inliers, refined_errors, H)
return refined_tup1
def perterb_kpts(kpts,
xy_std=None,
invV_std=None,
ori_std=None,
damping=None,
seed=None,
**kwargs):
""" Adds normally distributed pertibations to keypoints """
# TODO: Move to ktool
# Get standard deviations of pertibations
if xy_std is None:
xy_std = ktool.get_xys(kpts).std(1) + mtool.eps
if invV_std is None:
invV_std = ktool.get_invVs(kpts).std(1) + mtool.eps
if ori_std is None:
ori_std = ktool.get_oris(kpts).std() + mtool.eps
xy_std = np.array(xy_std, dtype=ktool.KPTS_DTYPE)
invV_std = np.array(invV_std, dtype=ktool.KPTS_DTYPE)
if damping is not None:
xy_std /= damping
invV_std /= damping
ori_std /= damping
if seed is not None:
np.random.seed(seed)
# Create normally distributed pertibations
xy_aug = np.random.normal(0, scale=xy_std,
size=(len(kpts), 2)).astype(ktool.KPTS_DTYPE)
try:
invV_aug = np.random.normal(0, scale=invV_std,
size=(len(kpts),
3)).astype(ktool.KPTS_DTYPE)
except ValueError as ex:
ut.printex(ex, key_list=[(type, 'invV_std')])
raise
ori_aug = np.random.normal(0, scale=ori_std,
size=(len(kpts), 1)).astype(ktool.KPTS_DTYPE)
# Augment keypoints
aug = np.hstack((xy_aug, invV_aug, ori_aug))
kpts_ = kpts + aug
# Ensure keypoint feasibility
kpts_ = force_kpts_feasibility(kpts_)
#print(ut.dict_str({key: type(val) if not isinstance(val, np.ndarray) else val.dtype for key, val in locals().items()}))
#assert kpts_.dtype == ktool.KPTS_DTYPE, 'bad cast somewhere kpts_.dtype=%r' % (kpts_.dtype)
return kpts_
def filter_neighbors(ibs, qaid2_nns, filt2_weights, qreq):
qaid2_nnfilt = {}
# Configs
filt_cfg = qreq.cfg.filt_cfg
cant_match_sameimg = not filt_cfg.can_match_sameimg
cant_match_samename = not filt_cfg.can_match_samename
K = qreq.cfg.nn_cfg.K
if NOT_QUIET:
print('[mf] Step 3) Filter neighbors: ')
if filt_cfg.gravity_weighting:
# We dont have an easy way to access keypoints from nearest neighbors yet
aid_list = np.unique(
qreq.data_index.dx2_aid) # FIXME: Highly inefficient
kpts_list = ibs.get_annot_kpts(aid_list)
dx2_kpts = np.vstack(kpts_list)
dx2_oris = ktool.get_oris(dx2_kpts)
assert len(dx2_oris) == len(qreq.data_index.dx2_data)
# Filter matches based on config and weights
mark_, end_ = log_prog('Filter NN: ', len(qaid2_nns))
for count, qaid in enumerate(six.iterkeys(qaid2_nns)):
mark_(count) # progress
(qfx2_dx, _) = qaid2_nns[qaid]
qfx2_nndx = qfx2_dx[:, 0:K]
# Get a numeric score score and valid flag for each feature match
qfx2_score, qfx2_valid = _apply_filter_scores(qaid, qfx2_nndx,
filt2_weights, filt_cfg)
qfx2_aid = qreq.data_index.dx2_aid[qfx2_nndx]
if VERBOSE:
print('[mf] * %d assignments are invalid by thresh' %
((True - qfx2_valid).sum()))
if filt_cfg.gravity_weighting:
qfx2_nnori = dx2_oris[qfx2_nndx]
qfx2_kpts = ibs.get_annot_kpts(qaid) # FIXME: Highly inefficient
qfx2_oris = ktool.get_oris(qfx2_kpts)
# Get the orientation distance
qfx2_oridist = ltool.rowwise_oridist(qfx2_nnori, qfx2_oris)
# Normalize into a weight (close orientations are 1, far are 0)
qfx2_gvweight = (np.tau - qfx2_oridist) / np.tau
# Apply gravity vector weight to the score
qfx2_score *= qfx2_gvweight
# Remove Impossible Votes:
# dont vote for yourself or another chip in the same image
cant_match_self = not cant_match_sameimg
if cant_match_self:
####DBG
qfx2_notsamechip = qfx2_aid != qaid
if VERBOSE:
nChip_all_invalid = ((True - qfx2_notsamechip)).sum()
nChip_new_invalid = (qfx2_valid *
(True - qfx2_notsamechip)).sum()
print('[mf] * %d assignments are invalid by self' %
nChip_all_invalid)
print('[mf] * %d are newly invalided by self' %
nChip_new_invalid)
####
qfx2_valid = np.logical_and(qfx2_valid, qfx2_notsamechip)
if cant_match_sameimg:
qfx2_gid = ibs.get_annot_gids(qfx2_aid)
qgid = ibs.get_annot_gids(qaid)
qfx2_notsameimg = qfx2_gid != qgid
####DBG
if VERBOSE:
nImg_all_invalid = ((True - qfx2_notsameimg)).sum()
nImg_new_invalid = (qfx2_valid *
(True - qfx2_notsameimg)).sum()
print('[mf] * %d assignments are invalid by gid' %
nImg_all_invalid)
print('[mf] * %d are newly invalided by gid' %
nImg_new_invalid)
####
qfx2_valid = np.logical_and(qfx2_valid, qfx2_notsameimg)
if cant_match_samename:
qfx2_nid = ibs.get_annot_nids(qfx2_aid)
qnid = ibs.get_annot_nids(qaid)
qfx2_notsamename = qfx2_nid != qnid
####DBG
if VERBOSE:
nName_all_invalid = ((True - qfx2_notsamename)).sum()
nName_new_invalid = (qfx2_valid *
(True - qfx2_notsamename)).sum()
print('[mf] * %d assignments are invalid by nid' %
nName_all_invalid)
print('[mf] * %d are newly invalided by nid' %
nName_new_invalid)
####
qfx2_valid = np.logical_and(qfx2_valid, qfx2_notsamename)
#printDBG('[mf] * Marking %d assignments as invalid' % ((True - qfx2_valid).sum()))
qaid2_nnfilt[qaid] = (qfx2_score, qfx2_valid)
end_()
return qaid2_nnfilt
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 get_affine_inliers(kpts1, kpts2, fm, fs, xy_thresh_sqrd, scale_thresh_sqrd,
ori_thresh):
"""
Estimates inliers deterministically using elliptical shapes
Compute all transforms from kpts1 to kpts2 (enumerate all hypothesis)
We transform from chip1 -> chip2
The determinants are squared keypoint scales
FROM PERDOCH 2009::
H = inv(Aj).dot(Rj.T).dot(Ri).dot(Ai)
H = inv(Aj).dot(Ai)
The input invVs = perdoch.invA's
CommandLine:
python -m vtool.spatial_verification --test-get_affine_inliers
Example:
>>> # ENABLE_DOCTEST
>>> from vtool.spatial_verification import * # NOQA
>>> import vtool.tests.dummy as dummy
>>> import vtool.keypoint as ktool
>>> kpts1, kpts2 = dummy.get_dummy_kpts_pair((100, 100))
>>> fm = dummy.make_dummy_fm(len(kpts1)).astype(np.int32)
>>> fs = np.ones(len(fm), dtype=np.float64)
>>> xy_thresh_sqrd = ktool.KPTS_DTYPE(.009) ** 2
>>> scale_thresh_sqrd = ktool.KPTS_DTYPE(2)
>>> ori_thresh = ktool.KPTS_DTYPE(TAU / 4)
>>> output = get_affine_inliers(kpts1, kpts2, fm, fs, xy_thresh_sqrd,
>>> scale_thresh_sqrd, ori_thresh)
>>> result = ut.hashstr(output)
>>> print(result)
89kz8nh6p+66t!+u
Ignore::
from vtool.spatial_verification import * # NOQA
import vtool.tests.dummy as dummy
import vtool.keypoint as ktool
kpts1, kpts2 = dummy.get_dummy_kpts_pair((100, 100))
a = kpts1[fm.T[0]]
b = kpts1.take(fm.T[0])
align = fm.dtype.itemsize * fm.shape[1]
align2 = [fm.dtype.itemsize, fm.dtype.itemsize]
viewtype1 = np.dtype(np.void, align)
viewtype2 = np.dtype(np.int32, align2)
c = np.ascontiguousarray(fm).view(viewtype1)
fm_view = np.ascontiguousarray(fm).view(viewtype1)
qfx = fm.view(np.dtype(np.int32 np.int32.itemsize))
dfx = fm.view(np.dtype(np.int32, np.int32.itemsize))
d = np.ascontiguousarray(c).view(viewtype2)
fm.view(np.dtype(np.void, align))
np.ascontiguousarray(fm).view(np.dtype((np.void, Z.dtype.itemsize * Z.shape[1])))
"""
#http://ipython-books.github.io/featured-01/
kpts1_m = kpts1.take(fm.T[0], axis=0)
kpts2_m = kpts2.take(fm.T[1], axis=0)
# Get keypoints to project in matrix form
#invVR2s_m = ktool.get_invV_mats(kpts2_m, with_trans=True, with_ori=True)
#invVR1s_m = ktool.get_invV_mats(kpts1_m, with_trans=True, with_ori=True)
invVR2s_m = ktool.get_invVR_mats3x3(kpts2_m)
invVR1s_m = ktool.get_invVR_mats3x3(kpts1_m)
RV1s_m = ktool.invert_invV_mats(invVR1s_m) # 539 us
# BUILD ALL HYPOTHESIS TRANSFORMS: The transform from kp1 to kp2 is:
Aff_mats = matrix_multiply(invVR2s_m, RV1s_m)
# Get components to test projects against
xy2_m = ktool.get_xys(kpts2_m)
det2_m = ktool.get_sqrd_scales(kpts2_m)
ori2_m = ktool.get_oris(kpts2_m)
# SLOWER EQUIVALENT
# RV1s_m = ktool.get_V_mats(kpts1_m, with_trans=True, with_ori=True) # 5.2 ms
# xy2_m = ktool.get_invVR_mats_xys(invVR2s_m)
# ori2_m = ktool.get_invVR_mats_oris(invVR2s_m)
# assert np.all(ktool.get_oris(kpts2_m) == ktool.get_invVR_mats_oris(invVR2s_m))
# assert np.all(ktool.get_xys(kpts2_m) == ktool.get_invVR_mats_xys(invVR2s_m))
# The previous versions of this function were all roughly comparable.
# The for loop one was the slowest. I'm deciding to go with the one
# where there is no internal function definition. It was moderately faster,
# and it gives us access to profile that function
inliers_and_errors_list = [
_test_hypothesis_inliers(Aff, invVR1s_m, xy2_m, det2_m, ori2_m,
xy_thresh_sqrd, scale_thresh_sqrd, ori_thresh)
for Aff in Aff_mats
]
aff_inliers_list = [tup[0] for tup in inliers_and_errors_list]
aff_errors_list = [tup[1] for tup in inliers_and_errors_list]
return aff_inliers_list, aff_errors_list, Aff_mats
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 get_affine_inliers(kpts1, kpts2, fm, fs,
xy_thresh_sqrd,
scale_thresh_sqrd,
ori_thresh):
"""
Estimates inliers deterministically using elliptical shapes
Compute all transforms from kpts1 to kpts2 (enumerate all hypothesis)
We transform from chip1 -> chip2
The determinants are squared keypoint scales
FROM PERDOCH 2009::
H = inv(Aj).dot(Rj.T).dot(Ri).dot(Ai)
H = inv(Aj).dot(Ai)
The input invVs = perdoch.invA's
CommandLine:
python -m vtool.spatial_verification --test-get_affine_inliers
Example:
>>> # ENABLE_DOCTEST
>>> from vtool.spatial_verification import * # NOQA
>>> import vtool.tests.dummy as dummy
>>> import vtool.keypoint as ktool
>>> kpts1, kpts2 = dummy.get_dummy_kpts_pair((100, 100))
>>> fm = dummy.make_dummy_fm(len(kpts1)).astype(np.int32)
>>> fs = np.ones(len(fm), dtype=np.float64)
>>> xy_thresh_sqrd = ktool.KPTS_DTYPE(.009) ** 2
>>> scale_thresh_sqrd = ktool.KPTS_DTYPE(2)
>>> ori_thresh = ktool.KPTS_DTYPE(TAU / 4)
>>> output = get_affine_inliers(kpts1, kpts2, fm, fs, xy_thresh_sqrd,
>>> scale_thresh_sqrd, ori_thresh)
>>> result = ut.hashstr(output)
>>> print(result)
89kz8nh6p+66t!+u
Ignore::
from vtool.spatial_verification import * # NOQA
import vtool.tests.dummy as dummy
import vtool.keypoint as ktool
kpts1, kpts2 = dummy.get_dummy_kpts_pair((100, 100))
a = kpts1[fm.T[0]]
b = kpts1.take(fm.T[0])
align = fm.dtype.itemsize * fm.shape[1]
align2 = [fm.dtype.itemsize, fm.dtype.itemsize]
viewtype1 = np.dtype(np.void, align)
viewtype2 = np.dtype(np.int32, align2)
c = np.ascontiguousarray(fm).view(viewtype1)
fm_view = np.ascontiguousarray(fm).view(viewtype1)
qfx = fm.view(np.dtype(np.int32 np.int32.itemsize))
dfx = fm.view(np.dtype(np.int32, np.int32.itemsize))
d = np.ascontiguousarray(c).view(viewtype2)
fm.view(np.dtype(np.void, align))
np.ascontiguousarray(fm).view(np.dtype((np.void, Z.dtype.itemsize * Z.shape[1])))
"""
#http://ipython-books.github.io/featured-01/
kpts1_m = kpts1.take(fm.T[0], axis=0)
kpts2_m = kpts2.take(fm.T[1], axis=0)
# Get keypoints to project in matrix form
#invVR2s_m = ktool.get_invV_mats(kpts2_m, with_trans=True, with_ori=True)
#invVR1s_m = ktool.get_invV_mats(kpts1_m, with_trans=True, with_ori=True)
invVR2s_m = ktool.get_invVR_mats3x3(kpts2_m)
invVR1s_m = ktool.get_invVR_mats3x3(kpts1_m)
RV1s_m = ktool.invert_invV_mats(invVR1s_m) # 539 us
# BUILD ALL HYPOTHESIS TRANSFORMS: The transform from kp1 to kp2 is:
Aff_mats = matrix_multiply(invVR2s_m, RV1s_m)
# Get components to test projects against
xy2_m = ktool.get_xys(kpts2_m)
det2_m = ktool.get_sqrd_scales(kpts2_m)
ori2_m = ktool.get_oris(kpts2_m)
# SLOWER EQUIVALENT
# RV1s_m = ktool.get_V_mats(kpts1_m, with_trans=True, with_ori=True) # 5.2 ms
# xy2_m = ktool.get_invVR_mats_xys(invVR2s_m)
# ori2_m = ktool.get_invVR_mats_oris(invVR2s_m)
# assert np.all(ktool.get_oris(kpts2_m) == ktool.get_invVR_mats_oris(invVR2s_m))
# assert np.all(ktool.get_xys(kpts2_m) == ktool.get_invVR_mats_xys(invVR2s_m))
# The previous versions of this function were all roughly comparable.
# The for loop one was the slowest. I'm deciding to go with the one
# where there is no internal function definition. It was moderately faster,
# and it gives us access to profile that function
inliers_and_errors_list = [_test_hypothesis_inliers(Aff, invVR1s_m, xy2_m,
det2_m, ori2_m,
xy_thresh_sqrd,
scale_thresh_sqrd,
ori_thresh)
for Aff in Aff_mats]
aff_inliers_list = [tup[0] for tup in inliers_and_errors_list]
aff_errors_list = [tup[1] for tup in inliers_and_errors_list]
return aff_inliers_list, aff_errors_list, Aff_mats
def filter_neighbors(ibs, qaid2_nns, filt2_weights, qreq):
qaid2_nnfilt = {}
# Configs
filt_cfg = qreq.cfg.filt_cfg
cant_match_sameimg = not filt_cfg.can_match_sameimg
cant_match_samename = not filt_cfg.can_match_samename
K = qreq.cfg.nn_cfg.K
if NOT_QUIET:
print('[mf] Step 3) Filter neighbors: ')
if filt_cfg.gravity_weighting:
# We dont have an easy way to access keypoints from nearest neighbors yet
aid_list = np.unique(qreq.data_index.dx2_aid) # FIXME: Highly inefficient
kpts_list = ibs.get_annot_kpts(aid_list)
dx2_kpts = np.vstack(kpts_list)
dx2_oris = ktool.get_oris(dx2_kpts)
assert len(dx2_oris) == len(qreq.data_index.dx2_data)
# Filter matches based on config and weights
mark_, end_ = log_prog('Filter NN: ', len(qaid2_nns))
for count, qaid in enumerate(six.iterkeys(qaid2_nns)):
mark_(count) # progress
(qfx2_dx, _) = qaid2_nns[qaid]
qfx2_nndx = qfx2_dx[:, 0:K]
# Get a numeric score score and valid flag for each feature match
qfx2_score, qfx2_valid = _apply_filter_scores(qaid, qfx2_nndx, filt2_weights, filt_cfg)
qfx2_aid = qreq.data_index.dx2_aid[qfx2_nndx]
if VERBOSE:
print('[mf] * %d assignments are invalid by thresh' %
((True - qfx2_valid).sum()))
if filt_cfg.gravity_weighting:
qfx2_nnori = dx2_oris[qfx2_nndx]
qfx2_kpts = ibs.get_annot_kpts(qaid) # FIXME: Highly inefficient
qfx2_oris = ktool.get_oris(qfx2_kpts)
# Get the orientation distance
qfx2_oridist = ltool.rowwise_oridist(qfx2_nnori, qfx2_oris)
# Normalize into a weight (close orientations are 1, far are 0)
qfx2_gvweight = (np.tau - qfx2_oridist) / np.tau
# Apply gravity vector weight to the score
qfx2_score *= qfx2_gvweight
# Remove Impossible Votes:
# dont vote for yourself or another chip in the same image
cant_match_self = not cant_match_sameimg
if cant_match_self:
####DBG
qfx2_notsamechip = qfx2_aid != qaid
if VERBOSE:
nChip_all_invalid = ((True - qfx2_notsamechip)).sum()
nChip_new_invalid = (qfx2_valid * (True - qfx2_notsamechip)).sum()
print('[mf] * %d assignments are invalid by self' % nChip_all_invalid)
print('[mf] * %d are newly invalided by self' % nChip_new_invalid)
####
qfx2_valid = np.logical_and(qfx2_valid, qfx2_notsamechip)
if cant_match_sameimg:
qfx2_gid = ibs.get_annot_gids(qfx2_aid)
qgid = ibs.get_annot_gids(qaid)
qfx2_notsameimg = qfx2_gid != qgid
####DBG
if VERBOSE:
nImg_all_invalid = ((True - qfx2_notsameimg)).sum()
nImg_new_invalid = (qfx2_valid * (True - qfx2_notsameimg)).sum()
print('[mf] * %d assignments are invalid by gid' % nImg_all_invalid)
print('[mf] * %d are newly invalided by gid' % nImg_new_invalid)
####
qfx2_valid = np.logical_and(qfx2_valid, qfx2_notsameimg)
if cant_match_samename:
qfx2_nid = ibs.get_annot_nids(qfx2_aid)
qnid = ibs.get_annot_nids(qaid)
qfx2_notsamename = qfx2_nid != qnid
####DBG
if VERBOSE:
nName_all_invalid = ((True - qfx2_notsamename)).sum()
nName_new_invalid = (qfx2_valid * (True - qfx2_notsamename)).sum()
print('[mf] * %d assignments are invalid by nid' % nName_all_invalid)
print('[mf] * %d are newly invalided by nid' % nName_new_invalid)
####
qfx2_valid = np.logical_and(qfx2_valid, qfx2_notsamename)
#printDBG('[mf] * Marking %d assignments as invalid' % ((True - qfx2_valid).sum()))
qaid2_nnfilt[qaid] = (qfx2_score, qfx2_valid)
end_()
return qaid2_nnfilt