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debugging pnpRAnsac
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alexs7 committed Aug 9, 2019
1 parent 0c53912 commit 4407a28
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Showing 2 changed files with 10 additions and 10 deletions.
18 changes: 9 additions & 9 deletions query_matcher.py
Expand Up @@ -122,17 +122,17 @@ def truncate(f, n):
# now we need to find which ones are good matches...

# Brute Force
# bf = cv2.BFMatcher()
# matches = bf.knnMatch(query_keypoints_descriptors, keypoints_descriptors, k=2)
bf = cv2.BFMatcher()
matches = bf.knnMatch(query_keypoints_descriptors, keypoints_descriptors, k=2)

# ..or FLANN
FLANN_INDEX_KDTREE = 0
index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
search_params = dict(checks=50) # or pass empty dictionary
flann = cv2.FlannBasedMatcher(index_params,search_params)
query_keypoints_descriptors = np.ascontiguousarray(query_keypoints_descriptors)
keypoints_descriptors = np.ascontiguousarray(keypoints_descriptors)
matches = flann.knnMatch(query_keypoints_descriptors, keypoints_descriptors,k=2)
# FLANN_INDEX_KDTREE = 0
# index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)
# search_params = dict(checks=50) # or pass empty dictionary
# flann = cv2.FlannBasedMatcher(index_params,search_params)
# query_keypoints_descriptors = np.ascontiguousarray(query_keypoints_descriptors)
# keypoints_descriptors = np.ascontiguousarray(keypoints_descriptors)
# matches = flann.knnMatch(query_keypoints_descriptors, keypoints_descriptors,k=2)

good = []
for m,n in matches:
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2 changes: 1 addition & 1 deletion query_matcher_improved_ransac.py
Expand Up @@ -120,7 +120,7 @@ def get_good_matches(matches):
[0, 3482, 1523],
[0, 0, 1 ]], dtype = "float")

(_, pnp_ransac_rotation_vector, pnp_ransac_translation_vector, inliers) = cv2.solvePnPRansac(final_match_array[:,2:5], final_match_array[:,0:2], camera_matrix, None, iterationsCount = 500, flags = cv2.SOLVEPNP_EPNP)
(_, pnp_ransac_rotation_vector, pnp_ransac_translation_vector, inliers) = cv2.solvePnPRansac(final_match_array[:,2:5], final_match_array[:,0:2], camera_matrix, None, iterationsCount = 100, flags = cv2.SOLVEPNP_EPNP)

np.savetxt("results/"+query_image_name+"/pnp_ransac_rotation_vector.txt", pnp_ransac_rotation_vector)
np.savetxt("results/"+query_image_name+"/pnp_ransac_translation_vector.txt", pnp_ransac_translation_vector)
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