def compute_pose(self, view1, view2=None, is_baseline=False):
"""Computes the pose of the new view"""
# procedure for baseline pose estimation
if is_baseline and view2:
match_object = self.matches[(view1.name, view2.name)]
baseline_pose = Baseline(view1, view2, match_object)
view2.R, view2.t = baseline_pose.get_pose(self.K)
rpe1, rpe2 = self.triangulate(view1, view2)
self.errors.append(np.mean(rpe1))
self.errors.append(np.mean(rpe2))
self.done.append(view1)
self.done.append(view2)
# procedure for estimating the pose of all other views
else:
view1.R, view1.t = self.compute_pose_PNP(view1)
errors = []
# reconstruct unreconstructed points from all of the previous views
for i, old_view in enumerate(self.done):
match_object = self.matches[(old_view.name, view1.name)]
_ = remove_outliers_using_F(old_view, view1, match_object)
self.remove_mapped_points(match_object, i)
_, rpe = self.triangulate(old_view, view1)
errors += rpe
self.done.append(view1)
self.errors.append(np.mean(errors))
