def test_four_cams_one_fixed():
"""Four cameras, one reconstruction"""
sa = csfm.BundleAdjuster()
sa.add_shot('1', 'cam1', [0, 0, 0], [0, 0, 0], True)
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', True)
sa.add_relative_motion(
csfm.BARelativeMotion('1234', '1', '1234', '2', [0, 0, 0], [-1, 0, 0]))
sa.add_relative_motion(
csfm.BARelativeMotion('1234', '1', '1234', '3', [0, 0, 0], [0, -1, 0]))
sa.add_relative_motion(
csfm.BARelativeMotion('1234', '1', '1234', '4', [0, 0, 0], [0, 0, -1]))
sa.add_absolute_position('1', [100, 0, 0], 1, '1')
sa.add_absolute_position('2', [2, 0, 0], 1, '2')
sa.add_absolute_position('3', [0, 2, 0], 1, '3')
sa.run()
s1 = sa.get_shot('1')
s2 = sa.get_shot('2')
s3 = sa.get_shot('3')
s4 = sa.get_shot('4')
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, [0, -2, 0], atol=1e-6)
assert np.allclose(s4.t, [0, 0, -2], atol=1e-6)
def test_pair_with_shot_point():
"""Simple two camera test with a point constraint for anchoring"""
sa = csfm.BundleAdjuster()
sa.add_shot('1', 'cam1', [0, 0, 0], [1e-3, 1e-3, 1e-3], False)
sa.add_shot('2', 'cam1', [0, 0, 0], [1e-3, 1e-3, 1e-3], False)
sa.add_point('p1', [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', True)
sa.add_relative_motion(
csfm.BARelativeMotion('12', '1', '12', '2', [0, 0, 0], [-1, 0, 0]))
sa.add_point_position_shot('p1', '1', '12', [1, 0, 0], 1, csfm.XYZ)
sa.add_point_position_shot('p1', '2', '12', [-1, 0, 0], 1, csfm.XYZ)
sa.add_point_bearing_shot('p1', '1', '12', [1, 0, 0], 2e-3)
sa.add_point_position_world('p1', [1, 0, 0], 1, csfm.XYZ)
sa.run()
s1 = sa.get_shot('1')
s2 = sa.get_shot('2')
r12 = sa.get_reconstruction('12')
p1 = sa.get_point('p1')
assert np.allclose(s1.t, [0.5, 0, 0], atol=1e-2)
assert np.allclose(s2.t, [-1.5, 0, 0], atol=1e-2)
assert np.allclose(p1.p, [1, 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():
"""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', True)
sa.add_relative_motion(
csfm.BARelativeMotion('12', '1', '12', '2', [0, 0, 0], [-1, 0, 0]))
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)