def test_four_cams_single_reconstruction_non_rigid():
"""Four cameras, one reconstruction"""
sa = csfm.BundleAdjuster()
sa.add_shot('1', 'cam1', [0, 0, 0], [0, 0, 0], False)
sa.add_shot('2', 'cam1', [0, 0, 0], [0, 0, 0], False)
sa.add_shot('3', 'cam1', [0, 0, 0], [0, 0, 0], False)
sa.add_shot('4', 'cam1', [0, 0, 0], [0, 0, 0], False)
sa.add_reconstruction('1234', False)
sa.add_reconstruction_shot('1234', 1, '1')
sa.add_reconstruction_shot('1234', 1, '2')
sa.add_reconstruction_shot('1234', 1, '3')
sa.add_reconstruction_shot('1234', 1, '4')
sa.set_scale_sharing('1234', False)
sa.add_relative_similarity(
csfm.BARelativeSimilarity('1234', '1', '1234', '2', [0, 0, 0],
[-1, 0, 0], 1))
sa.add_relative_similarity(
csfm.BARelativeSimilarity('1234', '2', '1234', '3', [0, 0, 0],
[-1, -1, 0], 1))
sa.add_relative_similarity(
csfm.BARelativeSimilarity('1234', '3', '1234', '4', [0, 0, 0],
[0, -1, 0], 1))
sa.add_absolute_position('1', [0, 0, 0], 1, '1')
sa.add_absolute_position('2', [2, 0, 0], 1, '2')
sa.add_absolute_position('3', [4, 2, 0], 1, '3')
sa.add_absolute_position('4', [4, 4, 0], 1, '4')
sa.run()
s1 = sa.get_shot('1')
s2 = sa.get_shot('2')
s3 = sa.get_shot('3')
s4 = sa.get_shot('4')
r1234 = sa.get_reconstruction('1234')
assert np.allclose(s1.t, [0, 0, 0], atol=1e-6)
assert np.allclose(s2.t, [-2, 0, 0], atol=1e-6)
assert np.allclose(s3.t, [-4, -2, 0], atol=1e-6)
assert np.allclose(s4.t, [-4, -4, 0], atol=1e-6)
assert np.allclose(r1234.get_scale('1'), 0.5)
assert np.allclose(r1234.get_scale('2'), 0.5)
assert np.allclose(r1234.get_scale('3'), 0.5)
assert np.allclose(r1234.get_scale('4'), 0.5)
def test_pair_non_rigid():
"""Simple two camera test"""
sa = csfm.BundleAdjuster()
sa.add_shot('1', 'cam1', [0, 0, 0], [0, 0, 0], False)
sa.add_shot('2', 'cam1', [0, 0, 0], [0, 0, 0], False)
sa.add_reconstruction('12', False)
sa.add_reconstruction_shot('12', 4, '1')
sa.add_reconstruction_shot('12', 4, '2')
sa.set_scale_sharing('12', False)
sa.add_relative_similarity(
csfm.BARelativeSimilarity('12', '1', '12', '2', [0, 0, 0], [-1, 0, 0],
1))
sa.add_absolute_position('1', [0, 0, 0], 1, '1')
sa.add_absolute_position('2', [2, 0, 0], 1, '2')
sa.run()
s1 = sa.get_shot('1')
s2 = sa.get_shot('2')
r12 = sa.get_reconstruction('12')
assert np.allclose(s1.t, [0, 0, 0], atol=1e-6)
assert np.allclose(s2.t, [-2, 0, 0], atol=1e-6)
assert np.allclose(r12.get_scale('1'), 0.5)
assert np.allclose(r12.get_scale('2'), 0.5)