def compute_fundamental_matrix(self, clean_keys=[], **kwargs):
if hasattr(self, 'matches'):
matches = self.matches
else:
raise AttributeError('Matches have not been computed for this edge')
return
all_source_keypoints = self.source.get_keypoint_coordinates(matches['source_idx'])
all_destin_keypoints = self.destination.get_keypoint_coordinates(matches['destination_idx'])
matches, mask = self._clean(clean_keys)
s_keypoints = self.source.get_keypoint_coordinates(matches['source_idx']).values
d_keypoints = self.destination.get_keypoint_coordinates(matches['destination_idx']).values
transformation_matrix, fundam_mask = od.compute_fundamental_matrix(s_keypoints,
d_keypoints,
**kwargs)
try:
fundam_mask = fundam_mask.ravel()
except:
return
# Convert the truncated RANSAC mask back into a full length mask
mask[mask] = fundam_mask
self.fundamental_matrix = FundamentalMatrix(transformation_matrix,
all_source_keypoints,
all_destin_keypoints,
mask=mask)
# Subscribe the health watcher to the fundamental matrix observable
self.fundamental_matrix.subscribe(self._health.update)
self.fundamental_matrix._notify_subscribers(self.fundamental_matrix)
# Set the initial state of the fundamental mask in the masks
self.masks = ('fundamental', mask)
def refine(self, method=ps.esda.mapclassify.Fisher_Jenks, bin_id=0, **kwargs):
"""
Refine the fundamental matrix by accepting some data classification
method that accepts an ndarray and returns an object with a bins
attribute, where bins are data breaks. Using the bin_id, mask
all values greater than the selected bin. Then compute a
new fundamental matrix.
Parameters
----------
method : object
A function that accepts and ndarray and returns an object
with a bins attribute
bin_id : int
The index into the bins object. Data classified > this
id is masked
kwargs : dict
Keyword args supported by the data classifier
Returns
-------
FundamentalMatrix : object
A fundamental matrix class object
mask : series
A bool mask with index attribute identifying the valid
data in the new fundamental matrix.
"""
# Perform the data classification
fj = method(self.error.values.ravel(), **kwargs)
bins = fj.bins
# Mask the data that falls outside the provided bins
mask = self.error['Reprojection Error'] <= bins[bin_id]
new_x1 = self.x1.iloc[mask[mask==True].index]
new_x2 = self.x2.iloc[mask[mask==True].index]
fmatrix, new_mask = compute_fundamental_matrix(new_x1.values, new_x2.values)
mask[mask==True] = new_mask
# Update the current state
self[:] = fmatrix
self.mask[self.mask==True] = mask
# Update the action stack
try:
state_package = {'arr': fmatrix.copy(),
'mask': self.mask.copy()}
self._action_stack.append(state_package)
self._current_action_stack = len(self._action_stack) - 1 # 0 based vs. 1 based
self._clean_attrs()
self._notify_subscribers(self)
except:
warnings.warn('Refinement outlier detection removed all observations.',
UserWarning)
def compute_fundamental_matrix(self, clean_keys=[], **kwargs):
if hasattr(self, 'matches'):
matches = self.matches
else:
raise AttributeError('Matches have not been computed for this edge')
all_source_keypoints = self.source.keypoints.iloc[matches['source_idx']]
all_destin_keypoints = self.destination.keypoints.iloc[matches['destination_idx']]
if clean_keys:
matches, mask = self._clean(clean_keys)
s_keypoints = self.source.keypoints.iloc[matches['source_idx'].values]
d_keypoints = self.destination.keypoints.iloc[matches['destination_idx'].values]
transformation_matrix, fundam_mask = od.compute_fundamental_matrix(s_keypoints[['x', 'y']].values,
d_keypoints[['x', 'y']].values,
**kwargs)
fundam_mask = fundam_mask.ravel()
# Convert the truncated RANSAC mask back into a full length mask
if clean_keys:
mask[mask == True] = fundam_mask
else:
mask = fundam_mask
self.fundamental_matrix = FundamentalMatrix(transformation_matrix,
all_source_keypoints[['x', 'y']],
all_destin_keypoints[['x', 'y']],
mask=mask)
# Subscribe the health watcher to the fundamental matrix observable
self.fundamental_matrix.subscribe(self._health.update)
self.fundamental_matrix._notify_subscribers(self.fundamental_matrix)
# Set the initial state of the fundamental mask in the masks
self.masks = ('fundamental', mask)