def testFindCameraSpacePointsTwo():
v = Connections()
srcPts = np.array([[1, 1], [3, 3], [5, 5]])
dstPts = np.array([[2, 2], [4, 4], [6, 6]])
v.addConnection(0, 1, None, None, srcPts, dstPts)
v.debugConnections()
listOfMatches = []
discovered = [dict(), dict()]
v.findMatches(listOfMatches, discovered)
[match.debugViews() for match in listOfMatches]
def testFindCameraSpacePointsThree():
v = Connections()
srcPts01 = np.array([[1, 1], [4, 4]])
dstPts01 = np.array([[2, 2], [5, 5]])
v.addConnection(0, 1, None, None, srcPts01, dstPts01)
srcPts02 = np.array([[8, 8]])
dstPts02 = np.array([[9, 9]])
v.addConnection(0, 2, None, None, srcPts02, dstPts02)
srcPts12 = np.array([[2, 2], [6, 6]])
dstPts12 = np.array([[3, 3], [7, 7]])
v.addConnection(1, 2, None, None, srcPts12, dstPts12)
# v.debugConnections()
listOfMatches = []
discovered = [dict(), dict(), dict()]
v.findMatches(listOfMatches, discovered)
[match.debugViews() for match in listOfMatches]
def testAddOneConnection(R01, t01):
v = Connections()
v.addConnection(0, 1, R01, t01, None, None)
v.debugConnections()
def testFindCameraSpacePointsFour():
v = Connections()
srcPts01 = np.array([[1, 1], [8, 8], [17, 17]])
dstPts01 = np.array([[2, 2], [9, 9], [18, 18]])
v.addConnection(0, 1, None, None, srcPts01, dstPts01)
srcPts02 = np.array([[5, 5], [19, 19]])
dstPts02 = np.array([[7, 7], [20, 20]])
v.addConnection(0, 2, None, None, srcPts02, dstPts02)
srcPts03 = np.array([[8, 8], [11, 11]])
dstPts03 = np.array([[10, 10], [13, 13]])
v.addConnection(0, 3, None, None, srcPts03, dstPts03)
srcPts12 = np.array([[2, 2], [6, 6], [14, 14], [21, 21]])
dstPts12 = np.array([[3, 3], [7, 7], [15, 15], [22, 22]])
v.addConnection(1, 2, None, None, srcPts12, dstPts12)
srcPts13 = np.array([[14, 14], [23, 23]])
dstPts13 = np.array([[16, 16], [24, 24]])
v.addConnection(1, 3, None, None, srcPts13, dstPts13)
srcPts23 = np.array([[3, 3], [12, 12], [25, 25]])
dstPts23 = np.array([[4, 4], [13, 13], [26, 26]])
v.addConnection(2, 3, None, None, srcPts23, dstPts23)
# v.debugConnections()
listOfMatches = []
discovered = [dict(), dict(), dict(), dict()]
v.findMatches(listOfMatches, discovered)
[match.debugViews() for match in listOfMatches]
for k in range(3):
matrixList[i][j, k] = np.float(row[k])
# instantiate viewSet object
c = Connections(len(images))
# set instrinsics
c.setIntrinsics(matrixList[0])
# fill connection table
for i in range(numImages):
for j in range(i + 1, numImages):
R, t, srcPts, dstPts = estimateRelativeExtrinsics(
images[i], images[j], i, j,
c.intrinsics) # estimate time 35.433154821395874
c.addConnection(i, j, R, t, srcPts, dstPts)
# find the matches
listOfMatches = []
discovered = [dict() for i in range(numImages)]
c.findMatches(listOfMatches, discovered)
# find the 3D points
index = np.random.randint(0, len(listOfMatches))
compute3DPoints(listOfMatches, c, False)
filterRelativeProjections(listOfMatches)
compute3DPoints(listOfMatches, c, True)
listOfMatches = filterWorldPoints(listOfMatches)
pointCloud = createPointCloud(listOfMatches)
finish = time()
print(finish - start)
plot_pointCloud(pointCloud)
