def pairs_and_their_E(pairs_and_poses):
pairs, poses, camera, _, _, _ = pairs_and_poses
pairs = list(
sorted(zip(pairs.values(), poses.values()), key=lambda x: -len(x[0])))
num_pairs = 20
indices = [np.random.randint(0, len(pairs) - 1) for i in range(num_pairs)]
ret_pairs = []
for idx in indices:
pair = pairs[idx]
p1 = np.array([x for x, _ in pair[0]])
p2 = np.array([x for _, x in pair[0]])
p1 = p1.reshape(-1, p1.shape[-1])
p2 = p2.reshape(-1, p2.shape[-1])
f1 = camera.pixel_bearing_many(p1)
f2 = camera.pixel_bearing_many(p2)
pose = pair[1]
R = pose.get_rotation_matrix()
t_x = multiview.cross_product_matrix(pose.get_origin())
e = R.dot(t_x)
e /= np.linalg.norm(e)
ret_pairs.append((f1, f2, e, pose))
return ret_pairs
def one_pair_and_its_E(pairs_and_poses):
pairs, poses, camera, _, _, _ = pairs_and_poses
pairs = list(sorted(zip(pairs.values(), poses.values()), key=lambda x: -len(x[0])))
pair = pairs[0]
f1 = camera.pixel_bearing_many(np.array([x for x, _ in pair[0]]))
f2 = camera.pixel_bearing_many(np.array([x for _, x in pair[0]]))
pose = pair[1]
R = pose.get_rotation_matrix()
t_x = multiview.cross_product_matrix(pose.get_origin())
e = R.dot(t_x)
e /= np.linalg.norm(e)
return f1, f2, e, pose