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feat: add optional random seed to the Python estimators #48

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feat: add optional random seed to the Python estimators #48

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4 changes: 4 additions & 0 deletions src/pymagsac/include/magsac_python.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,10 @@
#include <vector>
#include <opencv2/core/core.hpp>

// Make RANSAC sampling reproducible when seed >= 0, else restore the default
// nondeterministic behavior. Implemented in magsac_python.cpp.
void applyMagsacSeed(int seed);

int adaptiveInlierSelection_(
const std::vector<double>& srcPts_,
const std::vector<double>& dstPts_,
Expand Down
36 changes: 26 additions & 10 deletions src/pymagsac/src/bindings.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@

namespace py = pybind11;


py::tuple adaptiveInlierSelection(
py::array_t<double> x1y1_,
py::array_t<double> x2y2_,
Expand Down Expand Up @@ -89,7 +90,8 @@ py::tuple findRigidTransformation(
double conf,
int min_iters,
int max_iters,
int partition_num)
int partition_num,
int seed)
{
py::buffer_info buf1 = correspondences_.request();
size_t NUM_TENTS = buf1.shape[0];
Expand Down Expand Up @@ -117,6 +119,7 @@ py::tuple findRigidTransformation(
probabilities.assign(ptr_prob, ptr_prob + buf_prob.size);
}

applyMagsacSeed(seed);
int num_inl = findRigidTransformation_(
correspondences,
inliers,
Expand Down Expand Up @@ -159,7 +162,8 @@ py::tuple findFundamentalMatrix(
double conf,
int min_iters,
int max_iters,
int partition_num)
int partition_num,
int seed)
{
py::buffer_info buf1 = correspondences_.request();
size_t NUM_TENTS = buf1.shape[0];
Expand Down Expand Up @@ -187,6 +191,7 @@ py::tuple findFundamentalMatrix(
probabilities.assign(ptr_prob, ptr_prob + buf_prob.size);
}

applyMagsacSeed(seed);
int num_inl = findFundamentalMatrix_(
correspondences,
inliers,
Expand Down Expand Up @@ -235,7 +240,8 @@ py::tuple findEssentialMatrix(
double conf,
int min_iters,
int max_iters,
int partition_num)
int partition_num,
int seed)
{
py::buffer_info buf1 = correspondences_.request();
size_t NUM_TENTS = buf1.shape[0];
Expand Down Expand Up @@ -285,6 +291,7 @@ py::tuple findEssentialMatrix(
probabilities.assign(ptr_prob, ptr_prob + buf_prob.size);
}

applyMagsacSeed(seed);
int num_inl = findEssentialMatrix_(
correspondences,
inliers,
Expand Down Expand Up @@ -333,7 +340,8 @@ py::tuple findLine2D(
double conf,
int min_iters,
int max_iters,
int partition_num)
int partition_num,
int seed)
{
py::buffer_info buf1 = points_.request();
size_t NUM_TENTS = buf1.shape[0];
Expand All @@ -359,6 +367,7 @@ py::tuple findLine2D(
probabilities.assign(ptr_prob, ptr_prob + buf_prob.size);
}

applyMagsacSeed(seed);
int num_inl = findLine2D_(
points,
inliers,
Expand Down Expand Up @@ -405,7 +414,8 @@ py::tuple findHomography(
double conf,
int min_iters,
int max_iters,
int partition_num)
int partition_num,
int seed)
{
py::buffer_info buf1 = correspondences_.request();
size_t NUM_TENTS = buf1.shape[0];
Expand Down Expand Up @@ -433,6 +443,7 @@ py::tuple findHomography(
probabilities.assign(ptr_prob, ptr_prob + buf_prob.size);
}

applyMagsacSeed(seed);
int num_inl = findHomography_(
correspondences,
inliers,
Expand Down Expand Up @@ -506,7 +517,8 @@ PYBIND11_PLUGIN(pymagsac) {
py::arg("conf") = 0.99,
py::arg("min_iters") = 50,
py::arg("max_iters") = 1000,
py::arg("partition_num") = 5);
py::arg("partition_num") = 5,
py::arg("seed") = -1);

m.def("findFundamentalMatrix", &findFundamentalMatrix, R"doc(some doc)doc",
py::arg("correspondences"),
Expand All @@ -521,7 +533,8 @@ PYBIND11_PLUGIN(pymagsac) {
py::arg("conf") = 0.99,
py::arg("min_iters") = 50,
py::arg("max_iters") = 1000,
py::arg("partition_num") = 5);
py::arg("partition_num") = 5,
py::arg("seed") = -1);

m.def("findRigidTransformation", &findRigidTransformation, R"doc(some doc)doc",
py::arg("correspondences"),
Expand All @@ -532,7 +545,8 @@ PYBIND11_PLUGIN(pymagsac) {
py::arg("conf") = 0.99,
py::arg("min_iters") = 50,
py::arg("max_iters") = 1000,
py::arg("partition_num") = 5);
py::arg("partition_num") = 5,
py::arg("seed") = -1);

m.def("findHomography", &findHomography, R"doc(some doc)doc",
py::arg("correspondences"),
Expand All @@ -547,7 +561,8 @@ PYBIND11_PLUGIN(pymagsac) {
py::arg("conf") = 0.99,
py::arg("min_iters") = 50,
py::arg("max_iters") = 1000,
py::arg("partition_num") = 5);
py::arg("partition_num") = 5,
py::arg("seed") = -1);

m.def("findLine2D", &findLine2D, R"doc(some doc)doc",
py::arg("points"),
Expand All @@ -560,7 +575,8 @@ PYBIND11_PLUGIN(pymagsac) {
py::arg("conf") = 0.99,
py::arg("min_iters") = 50,
py::arg("max_iters") = 1000,
py::arg("partition_num") = 5);
py::arg("partition_num") = 5,
py::arg("seed") = -1);


return m.ptr();
Expand Down
17 changes: 17 additions & 0 deletions src/pymagsac/src/magsac_python.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,23 @@

#include <gflags/gflags.h>

#include <cstdlib>
#include <cstdint>

// Make RANSAC sampling reproducible when seed >= 0, else restore nondeterministic
// behavior. setGlobalSeed covers all UniformRandomGenerator-based samplers;
// std::srand covers samplers/solvers that use std::rand()/Eigen::Random.
void applyMagsacSeed(int seed)
{
if (seed >= 0)
{
gcransac::utils::UniformRandomGenerator<size_t>::setGlobalSeed(static_cast<std::uint64_t>(seed));
std::srand(static_cast<unsigned>(seed));
}
else
gcransac::utils::UniformRandomGenerator<size_t>::clearGlobalSeed();
}

int findRigidTransformation_(
std::vector<double>& correspondences,
std::vector<bool>& inliers,
Expand Down