def test_four_cams_single_reconstruction_non_rigid():
"""Four cameras, one reconstruction"""
sa = pybundle.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(
pybundle.BARelativeSimilarity(
"1234", "1", "1234", "2", [0, 0, 0], [-1, 0, 0], 1, 1
)
)
sa.add_relative_similarity(
pybundle.BARelativeSimilarity(
"1234", "2", "1234", "3", [0, 0, 0], [-1, -1, 0], 1, 1
)
)
sa.add_relative_similarity(
pybundle.BARelativeSimilarity(
"1234", "3", "1234", "4", [0, 0, 0], [0, -1, 0], 1, 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_four_cams_single_reconstruction_non_rigid():
"""Four cameras, one reconstruction"""
sa = pybundle.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(
pybundle.BARelativeSimilarity('1234', '1', '1234', '2', [0, 0, 0],
[-1, 0, 0], 1, 1))
sa.add_relative_similarity(
pybundle.BARelativeSimilarity('1234', '2', '1234', '3', [0, 0, 0],
[-1, -1, 0], 1, 1))
sa.add_relative_similarity(
pybundle.BARelativeSimilarity('1234', '3', '1234', '4', [0, 0, 0],
[0, -1, 0], 1, 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 = pybundle.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(pybundle.BARelativeSimilarity('12', '1', '12', '2', [0, 0, 0], [-1, 0, 0], 1, 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)
def test_pair_non_rigid(bundle_adjuster):
"""Simple two camera test"""
sa = bundle_adjuster
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(
pybundle.BARelativeSimilarity("12", "1", "12", "2", [0, 0, 0], [-1, 0, 0], 1, 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)