update: inliers too less

common/utils.py

@@ -163,7 +163,8 @@ def compute_geom(
             confidence=ransac_confidence,
             maxIters=ransac_max_iter,
         )
-        geo_info["Fundamental"] = F.tolist()
+        if F is not None:
+            geo_info["Fundamental"] = F.tolist()
         H, _ = cv2.findHomography(
             mkpts1,
             mkpts0,
@@ -172,12 +173,13 @@ def compute_geom(
             confidence=ransac_confidence,
             maxIters=ransac_max_iter,
         )
-        geo_info["Homography"] = H.tolist()
-        _, H1, H2 = cv2.stereoRectifyUncalibrated(
-            mkpts0.reshape(-1, 2), mkpts1.reshape(-1, 2), F, imgSize=(w1, h1)
-        )
-        geo_info["H1"] = H1.tolist()
-        geo_info["H2"] = H2.tolist()
+        if H is not None:
+            geo_info["Homography"] = H.tolist()
+            _, H1, H2 = cv2.stereoRectifyUncalibrated(
+                mkpts0.reshape(-1, 2), mkpts1.reshape(-1, 2), F, imgSize=(w1, h1)
+            )
+            geo_info["H1"] = H1.tolist()
+            geo_info["H2"] = H2.tolist()
         return geo_info
     else:
         return {}
@@ -352,13 +354,13 @@ def run_matching(
         "Image 1 - Keypoints",
     ]
     output_keypoints = plot_images([image0, image1], titles=titles, dpi=300)
-    plot_keypoints([pred["keypoints0"], pred["keypoints1"]])
-    text = (
-        f"# keypoints0: {len(pred['keypoints0'])} \n"
-        + f"# keypoints1: {len(pred['keypoints1'])}"
-    )
-
-    add_text(0, text, fs=15)
+    if "keypoints0" in pred.keys() and "keypoints1" in pred.keys():
+        plot_keypoints([pred["keypoints0"], pred["keypoints1"]])
+        text = (
+            f"# keypoints0: {len(pred['keypoints0'])} \n"
+            + f"# keypoints1: {len(pred['keypoints1'])}"
+        )
+        add_text(0, text, fs=15)
     output_keypoints = fig2im(output_keypoints)
 
     # plot images with raw matches