fix: fundamental

common/utils.py

@@ -374,7 +374,7 @@ def wrap_images(
         rectified_image0 = img0
         rectified_image1 = None
         H = np.array(geo_info["Homography"])
-        F = np.array(geo_info["Fundamental"])
+
         title: List[str] = []
         if geom_type == "Homography":
             rectified_image1 = cv2.warpPerspective(
@@ -383,11 +383,15 @@ def wrap_images(
             result_matrix = H
             title = ["Image 0", "Image 1 - warped"]
         elif geom_type == "Fundamental":
-            H1, H2 = np.array(geo_info["H1"]), np.array(geo_info["H2"])
-            rectified_image0 = cv2.warpPerspective(img0, H1, (w1, h1))
-            rectified_image1 = cv2.warpPerspective(img1, H2, (w2, h2))
-            result_matrix = F
-            title = ["Image 0 - warped", "Image 1 - warped"]
+            if geom_type not in geo_info:
+                logger.warning(f"{geom_type} not exist, maybe too less matches")
+                return None, None
+            else:
+                H1, H2 = np.array(geo_info["H1"]), np.array(geo_info["H2"])
+                rectified_image0 = cv2.warpPerspective(img0, H1, (w1, h1))
+                rectified_image1 = cv2.warpPerspective(img1, H2, (w2, h2))
+                result_matrix = np.array(geo_info["Fundamental"])
+                title = ["Image 0 - warped", "Image 1 - warped"]
         else:
             print("Error: Unknown geometry type")
         fig = plot_images(
@@ -395,11 +399,7 @@ def wrap_images(
             title,
             dpi=300,
         )
-        dictionary = {
-            "row1": result_matrix[0].tolist(),
-            "row2": result_matrix[1].tolist(),
-            "row3": result_matrix[2].tolist(),
-        }
+        dictionary = {}
         return fig2im(fig), dictionary
     else:
         return None, None