def test_pair_with_shot_point(bundle_adjuster):
"""Simple two camera test with a point constraint for anchoring"""
sa = bundle_adjuster
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.add_rotation_prior("1", 0, 0, 0, 1)
sa.set_scale_sharing("12", True)
sa.add_relative_motion(
pybundle.RelativeMotion("12", "1", "12", "2", [0, 0, 0], [-1, 0, 0],
1))
sa.add_point_position_shot("p1", "1", "12", [1, 0, 0], 1, pybundle.XYZ)
sa.add_point_position_shot("p1", "2", "12", [-1, 0, 0], 1, pybundle.XYZ)
sa.add_point_position_world("p1", [1, 0, 0], 1, pybundle.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_four_cams_one_fixed(bundle_adjuster):
"""Four cameras, one reconstruction"""
sa = bundle_adjuster
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(
pybundle.RelativeMotion("1234", "1", "1234", "2", [0, 0, 0],
[-1, 0, 0], 1))
sa.add_relative_motion(
pybundle.RelativeMotion("1234", "1", "1234", "3", [0, 0, 0],
[0, -1, 0], 1))
sa.add_relative_motion(
pybundle.RelativeMotion("1234", "1", "1234", "4", [0, 0, 0],
[0, 0, -1], 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(bundle_adjuster) -> None:
"""Simple two camera test"""
sa = bundle_adjuster
sa.add_rig_instance(
"1",
# pyre-fixme[6]: For 1st param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[int]`.
pygeometry.Pose([0, 0, 0], [0, 0, 0]),
{"1": "cam1"},
{"1": "rig_cam1"},
False,
)
sa.add_rig_instance(
"2",
# pyre-fixme[6]: For 1st param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[int]`.
pygeometry.Pose([0, 0, 0], [0, 0, 0]),
{"2": "cam1"},
{"2": "rig_cam1"},
False,
)
sa.add_reconstruction("12", False)
sa.add_reconstruction_instance("12", 4, "1")
sa.add_reconstruction_instance("12", 4, "2")
sa.set_scale_sharing("12", True)
sa.add_relative_motion(
# pyre-fixme[6]: For 5th param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 6th param expected `ndarray` but got `List[int]`.
pybundle.RelativeMotion("12", "1", "12", "2", [0, 0, 0], [-1, 0, 0],
1))
sa.add_rig_instance_position_prior("1", [0, 0, 0], [1, 1, 1], "")
sa.add_rig_instance_position_prior("2", [2, 0, 0], [1, 1, 1], "")
sa.run()
s1 = sa.get_rig_instance_pose("1")
s2 = sa.get_rig_instance_pose("2")
r12 = sa.get_reconstruction("12")
assert np.allclose(s1.translation, [0, 0, 0], atol=1e-6)
assert np.allclose(s2.translation, [-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(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", True)
sa.add_relative_motion(
pybundle.RelativeMotion("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)
def test_four_cams_one_fixed(bundle_adjuster) -> None:
"""Four rigs, one reconstruction"""
sa = bundle_adjuster
sa.add_rig_instance(
"1",
# pyre-fixme[6]: For 1st param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[int]`.
pygeometry.Pose([0, 0, 0], [0, 0, 0]),
{"1": "cam1"},
{"1": "rig_cam1"},
True,
)
sa.add_rig_instance(
"2",
# pyre-fixme[6]: For 1st param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[int]`.
pygeometry.Pose([0, 0, 0], [0, 0, 0]),
{"2": "cam1"},
{"2": "rig_cam1"},
False,
)
sa.add_rig_instance(
"3",
# pyre-fixme[6]: For 1st param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[int]`.
pygeometry.Pose([0, 0, 0], [0, 0, 0]),
{"3": "cam1"},
{"3": "rig_cam1"},
False,
)
sa.add_rig_instance(
"4",
# pyre-fixme[6]: For 1st param expected `ndarray` but got `List[float]`.
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[int]`.
pygeometry.Pose([0.0, 0, 0], [0, 0, 0]),
{"4": "cam1"},
{"4": "rig_cam1"},
False,
)
sa.add_reconstruction("1234", False)
sa.add_reconstruction_instance("1234", 1, "1")
sa.add_reconstruction_instance("1234", 1, "2")
sa.add_reconstruction_instance("1234", 1, "3")
sa.add_reconstruction_instance("1234", 1, "4")
sa.set_scale_sharing("1234", True)
sa.add_relative_motion(
# pyre-fixme[6]: For 5th param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 6th param expected `ndarray` but got `List[int]`.
pybundle.RelativeMotion("1234", "1", "1234", "2", [0, 0, 0],
[-1, 0, 0], 1))
sa.add_relative_motion(
# pyre-fixme[6]: For 5th param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 6th param expected `ndarray` but got `List[int]`.
pybundle.RelativeMotion("1234", "1", "1234", "3", [0, 0, 0],
[0, -1, 0], 1))
sa.add_relative_motion(
# pyre-fixme[6]: For 5th param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 6th param expected `ndarray` but got `List[int]`.
pybundle.RelativeMotion("1234", "1", "1234", "4", [0, 0, 0],
[0, 0, -1], 1))
sa.add_rig_instance_position_prior("1", [100, 0, 0], [1, 1, 1], "")
sa.add_rig_instance_position_prior("2", [2, 0, 0], [1, 1, 1], "")
sa.add_rig_instance_position_prior("3", [0, 2, 0], [1, 1, 1], "")
sa.run()
s1 = sa.get_rig_instance_pose("1")
s2 = sa.get_rig_instance_pose("2")
s3 = sa.get_rig_instance_pose("3")
s4 = sa.get_rig_instance_pose("4")
assert np.allclose(s1.translation, [0, 0, 0], atol=1e-6)
assert np.allclose(s2.translation, [-2, 0, 0], atol=1e-6)
assert np.allclose(s3.translation, [0, -2, 0], atol=1e-6)
assert np.allclose(s4.translation, [0, 0, -2], atol=1e-6)
def test_pair_with_points_priors(bundle_adjuster) -> None:
"""Simple two rigs test with a point constraint for anchoring"""
sa = bundle_adjuster
sa.add_rig_instance(
"1",
# pyre-fixme[6]: For 1st param expected `ndarray` but got `List[float]`.
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[float]`.
pygeometry.Pose([1e-3, 1e-3, 1e-3], [1e-3, 1e-3, 1e-3]),
{"1": "cam1"},
{"1": "rig_cam1"},
False,
)
sa.add_rig_instance(
"2",
# pyre-fixme[6]: For 1st param expected `ndarray` but got `List[float]`.
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[float]`.
pygeometry.Pose([1e-3, 1e-3, 1e-3], [1e-3, 1e-3, 1e-3]),
{"2": "cam1"},
{"2": "rig_cam1"},
False,
)
sa.add_point("p1", [0, 0, 0], False)
sa.add_point("p2", [0, 0, 0], False)
sa.add_reconstruction("12", False)
sa.add_reconstruction_instance("12", 4, "1")
sa.add_reconstruction_instance("12", 4, "2")
# identity rotation with pan/tilt/roll
sa.add_absolute_roll("1", np.radians(90), 1)
sa.add_absolute_pan("1", -np.radians(90), 1)
sa.add_absolute_tilt("1", -np.radians(90), 1)
sa.set_scale_sharing("12", True)
sa.add_relative_motion(
# pyre-fixme[6]: For 5th param expected `ndarray` but got `List[int]`.
# pyre-fixme[6]: For 6th param expected `ndarray` but got `List[int]`.
pybundle.RelativeMotion("12", "1", "12", "2", [0, 0, 0], [-1, 0, 0],
1))
sa.add_point_projection_observation("1", "p1", [0, 0], 1)
sa.add_point_projection_observation("2", "p1", [-0.5, 0], 1)
sa.add_point_prior("p1", [-0.5, 2, 2], [1, 1, 1], True)
sa.add_point_projection_observation("2", "p2", [0, 0], 1)
sa.add_point_projection_observation("1", "p2", [0.5, 0], 1)
sa.add_point_prior("p2", [1.5, 2, 2], [1, 1, 1], True)
sa.run()
s1 = sa.get_rig_instance_pose("1")
s2 = sa.get_rig_instance_pose("2")
r12 = sa.get_reconstruction("12")
p1 = sa.get_point("p1")
p2 = sa.get_point("p2")
assert np.allclose(s1.translation, [0.5, -2, 2], atol=1e-2)
assert np.allclose(s2.translation, [-1.5, -2, 2], atol=1e-2)
assert np.allclose(p1.p, [-0.5, 2, 2], atol=1e-6)
assert np.allclose(p2.p, [1.5, 2, 2], atol=1e-6)
assert np.allclose(r12.get_scale("1"), 0.5)
assert np.allclose(r12.get_scale("2"), 0.5)