Ejemplo n.º 1
0
def add_point_constraints(ra, reconstruction_shots, reconstruction_name):
    connections = connected_reconstructions(reconstruction_shots)
    for connection in connections:

        i1, (r1, g1) = load_reconstruction(connection[0].submodel_path,
                                           connection[0].index)
        i2, (r2, g2) = load_reconstruction(connection[1].submodel_path,
                                           connection[1].index)

        rec_name1 = reconstruction_name(connection[0])
        rec_name2 = reconstruction_name(connection[1])

        scale_treshold = 1.3
        treshold_in_meter = 0.3
        minimum_inliers = 20
        status, T, inliers = reconstruction.resect_reconstruction(
            r1, r2, g1, g2, treshold_in_meter, minimum_inliers)
        if not status:
            continue

        s, R, t = multiview.decompose_similarity_transform(T)
        if s > scale_treshold or s < (1.0/scale_treshold) or \
                len(inliers) < minimum_inliers:
            continue

        for t1, t2 in inliers:
            c1 = r1.points[t1].coordinates
            c2 = r2.points[t2].coordinates

            ra.add_common_point_constraint(rec_name1, c1[0], c1[1], c1[2],
                                           rec_name2, c2[0], c2[1], c2[2],
                                           1e-1)
Ejemplo n.º 2
0
def add_point_constraints(ra, reconstruction_shots, reconstruction_name):
    connections = connected_reconstructions(reconstruction_shots)
    for connection in connections:

        i1, (r1, g1) = load_reconstruction(
            connection[0].submodel_path, connection[0].index)
        i2, (r2, g2) = load_reconstruction(
            connection[1].submodel_path, connection[1].index)

        rec_name1 = reconstruction_name(connection[0])
        rec_name2 = reconstruction_name(connection[1])

        scale_treshold = 1.3
        treshold_in_meter = 0.3
        minimum_inliers = 20
        status, T, inliers = reconstruction.resect_reconstruction(
            r1, r2, g1, g2, treshold_in_meter, minimum_inliers)
        if not status:
            continue

        s, R, t = multiview.decompose_similarity_transform(T)
        if s > scale_treshold or s < (1.0/scale_treshold) or \
                len(inliers) < minimum_inliers:
            continue

        for t1, t2 in inliers:
            c1 = r1.points[t1].coordinates
            c2 = r2.points[t2].coordinates

            ra.add_common_point_constraint(
                rec_name1, c1[0], c1[1], c1[2],
                rec_name2, c2[0], c2[1], c2[2],
                1e-1)
Ejemplo n.º 3
0
def test_absolute_pose_generalized_shot(scene_synthetic_cube):
    """Whole reconstruction resection (generalized pose) on a toy
    reconstruction with 0.01 meter point noise and zero outliers."""
    noise = 0.01
    parameters = config.default_config()
    scene, tracks_manager = scene_synthetic_cube
    cluster1, cluster2 = split_synthetic_reconstruction(scene, tracks_manager, 3, noise)
    cluster2, translation, scale = move_and_scale_cluster(cluster2)

    status, T, inliers = reconstruction.resect_reconstruction(
        cluster1,
        cluster2,
        tracks_manager,
        tracks_manager,
        2 * noise,
        parameters["resection_min_inliers"],
    )

    assert status is True
    s, A, b = multiview.decompose_similarity_transform(T)
    np.testing.assert_almost_equal(scale, s, 2)
    np.testing.assert_almost_equal(np.eye(3), A, 2)
    np.testing.assert_almost_equal(translation, b, 2)