def triangulate_track(track, graph, reconstruction, Rt_by_id, reproj_threshold, min_ray_angle_degrees):
min_ray_angle = np.radians(min_ray_angle_degrees)
Rts, bs = [], []
for shot_id in graph[track]:
if shot_id in reconstruction["shots"]:
shot = reconstruction["shots"][shot_id]
camera = reconstruction["cameras"][shot["camera"]]
if shot_id not in Rt_by_id:
Rt_by_id[shot_id] = Rt_from_shot(shot)
Rts.append(Rt_by_id[shot_id])
x = graph[track][shot_id]["feature"]
b = multiview.pixel_bearing(np.array(x), camera)
bs.append(b)
if len(Rts) >= 2:
e, X = csfm.triangulate_bearings(Rts, bs, reproj_threshold, min_ray_angle)
if X is not None:
reconstruction["points"][track] = {"coordinates": list(X)}
def triangulate_track(track, graph, reconstruction, Rt_by_id, reproj_threshold, min_ray_angle_degrees):
min_ray_angle = np.radians(min_ray_angle_degrees)
Rts, bs = [], []
for shot_id in graph[track]:
if shot_id in reconstruction.shots:
shot = reconstruction.shots[shot_id]
if shot_id not in Rt_by_id:
Rt_by_id[shot_id] = shot.pose.get_Rt()
Rts.append(Rt_by_id[shot_id])
x = graph[track][shot_id]['feature']
b = shot.camera.pixel_bearing(np.array(x))
bs.append(b)
if len(Rts) >= 2:
e, X = csfm.triangulate_bearings(Rts, bs, reproj_threshold, min_ray_angle)
if X is not None:
point = types.Point()
point.id = track
point.coordinates = X.tolist()
reconstruction.add_point(point)
def triangulate_track(track, graph, reconstruction, Rt_by_id, reproj_threshold,
min_ray_angle_degrees):
min_ray_angle = np.radians(min_ray_angle_degrees)
Rts, bs = [], []
for shot_id in graph[track]:
if shot_id in reconstruction['shots']:
shot = reconstruction['shots'][shot_id]
camera = reconstruction['cameras'][shot['camera']]
if shot_id not in Rt_by_id:
Rt_by_id[shot_id] = Rt_from_shot(shot)
Rts.append(Rt_by_id[shot_id])
x = graph[track][shot_id]['feature']
b = multiview.pixel_bearing(np.array(x), camera)
bs.append(b)
if len(Rts) >= 2:
e, X = csfm.triangulate_bearings(Rts, bs, reproj_threshold,
min_ray_angle)
if X is not None:
reconstruction['points'][track] = {
"coordinates": list(X),
}
def triangulate_track(track, graph, reconstruction, Rt_by_id, reproj_threshold,
min_ray_angle_degrees):
min_ray_angle = np.radians(min_ray_angle_degrees)
Rts, bs = [], []
for shot_id in graph[track]:
if shot_id in reconstruction.shots:
shot = reconstruction.shots[shot_id]
if shot_id not in Rt_by_id:
Rt_by_id[shot_id] = shot.pose.get_Rt()
Rts.append(Rt_by_id[shot_id])
x = graph[track][shot_id]['feature']
b = shot.camera.pixel_bearing(np.array(x))
bs.append(b)
if len(Rts) >= 2:
e, X = csfm.triangulate_bearings(Rts, bs, reproj_threshold,
min_ray_angle)
if X is not None:
point = types.Point()
point.id = track
point.coordinates = X.tolist()
reconstruction.add_point(point)
