def test_triangulate_bearings_dlt():
rt1 = np.append(np.identity(3), [[0], [0], [0]], axis=1)
rt2 = np.append(np.identity(3), [[-1], [0], [0]], axis=1)
b1 = unit_vector([0.0, 0, 1])
b2 = unit_vector([-1.0, 0, 1])
max_reprojection = 0.01
min_ray_angle = np.radians(2.0)
res, X = pygeometry.triangulate_bearings_dlt([rt1, rt2], [b1, b2],
max_reprojection,
min_ray_angle)
assert np.allclose(X, [0, 0, 1.0])
assert res is True
def test_triangulate_bearings_dlt() -> None:
rt1 = np.append(np.identity(3), [[0], [0], [0]], axis=1)
rt2 = np.append(np.identity(3), [[-1], [0], [0]], axis=1)
b1 = unit_vector([0.0, 0, 1])
b2 = unit_vector([-1.0, 0, 1])
max_reprojection = 0.01
min_ray_angle = np.radians(2.0)
res, X = pygeometry.triangulate_bearings_dlt(
# pyre-fixme[6]: For 2nd param expected `ndarray` but got `List[typing.Any]`.
[rt1, rt2],
[b1, b2],
max_reprojection,
min_ray_angle)
assert np.allclose(X, [0, 0, 1.0])
assert res is True
def triangulate_dlt(self, track, reproj_threshold, min_ray_angle_degrees):
"""Triangulate track using DLT and add point to reconstruction."""
Rts, bs, ids = [], [], []
for shot_id, obs in self.tracks_manager.get_track_observations(track).items():
if shot_id in self.reconstruction.shots:
shot = self.reconstruction.shots[shot_id]
Rts.append(self._shot_Rt(shot))
b = shot.camera.pixel_bearing(np.array(obs.point))
bs.append(b)
ids.append(shot_id)
if len(Rts) >= 2:
e, X = pygeometry.triangulate_bearings_dlt(
Rts, bs, reproj_threshold, np.radians(min_ray_angle_degrees))
if e:
self.reconstruction.create_point(track, X.tolist())
for shot_id in ids:
self._add_track_to_reconstruction(track, shot_id)
