def align_reconstructions(reconstruction_shots,
reconstruction_name,
use_points_constraints,
camera_constraint_type='soft_camera_constraint'):
ra = pybundle.ReconstructionAlignment()
if camera_constraint_type is 'soft_camera_constraint':
add_camera_constraints_soft(ra, reconstruction_shots,
reconstruction_name)
if camera_constraint_type is 'hard_camera_constraint':
add_camera_constraints_hard(ra, reconstruction_shots,
reconstruction_name, True)
if use_points_constraints:
add_point_constraints(ra, reconstruction_shots, reconstruction_name)
logger.info("Running alignment")
ra.run()
logger.info(ra.brief_report())
transformations = {}
for key in reconstruction_shots:
rec_name = reconstruction_name(key)
r = ra.get_reconstruction(rec_name)
s = r.scale
A = cv2.Rodrigues(np.array([r.rx, r.ry, r.rz]))[0]
b = np.array([r.tx, r.ty, r.tz])
transformations[key] = invert_similarity(s, A, b)
return transformations
def test_two_reconstructions_common_camera():
"""Two reconstructions"""
ra = pybundle.ReconstructionAlignment()
ra.add_shot('a_1', 0, 0, 0, -1, 0, 0, True)
ra.add_shot('a_2', 0, 0, 0, -2, 0, 0, True)
ra.add_shot('a_3', 0, 0, 0, 0, 0, 0, True)
ra.add_shot('a_4', 0, 0, 0, 0, -1, 0, True)
ra.add_shot('a_5', 0, 0, 0, -1, 0, 0, True)
ra.add_reconstruction('a', 0, 0, 0, 0, 0, 0, 1, True)
ra.add_shot('b_3', 0, 0, 0, -1, -1, 0, True)
ra.add_shot('b_4', 0, 0, 0, -1, -2, 0, True)
ra.add_shot('b_5', 0, 0, 0, -2, -1, 0, True)
ra.add_shot('b_6', 0, 0, 0, -4, 0, 0, True)
ra.add_shot('b_7', 0, 0, 0, -5, 0, 0, True)
ra.add_reconstruction('b', 0, 0, 0, 0, 0, 0, 1, False)
ra.add_common_camera_constraint('a', 'a_3', 'b', 'b_3', 1, 1)
ra.add_common_camera_constraint('a', 'a_4', 'b', 'b_4', 1, 1)
ra.add_common_camera_constraint('a', 'a_5', 'b', 'b_5', 1, 1)
ra.run()
rec_a = ra.get_reconstruction('a')
rec_b = ra.get_reconstruction('b')
assert np.allclose(get_reconstruction_origin(rec_a), [0, 0, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_b), [-1, -1, 0],
atol=1e-6)
assert np.allclose(rec_a.scale, 1)
assert np.allclose(rec_b.scale, 1)
def test_two_reconstructions_rigid_alignment():
"""Two reconstructions"""
ra = pybundle.ReconstructionAlignment()
ra.add_shot('a_1', 0, 0, 0, -1, 0, 0, True)
ra.add_shot('a_2', 0, 0, 0, -2, 0, 0, True)
ra.add_shot('a_3', 0, 0, 0, 0, 0, 0, True)
ra.add_shot('a_4', 0, 0, 0, 0, -1, 0, True)
ra.add_shot('a_5', 0, 0, 0, -1, 0, 0, True)
ra.add_reconstruction('a', 0, 0, 0, 0, 0, 0, 1, False)
ra.add_shot('b_3', 0, 0, 0, -1, -1, 0, True)
ra.add_shot('b_4', 0, 0, 0, -1, -2, 0, True)
ra.add_shot('b_5', 0, 0, 0, -2, -1, 0, True)
ra.add_shot('b_6', 0, 0, 0, -4, 0, 0, True)
ra.add_shot('b_7', 0, 0, 0, -5, 0, 0, True)
ra.add_reconstruction('b', 0, 0, 0, 0, 0, 0, 1, False)
ra.add_relative_absolute_position_constraint('a', 'a_3', 5, 5, 0, 1)
ra.add_relative_absolute_position_constraint('a', 'a_4', 5, 6, 0, 1)
ra.add_relative_absolute_position_constraint('b', 'b_3', 5, 5, 0, 1)
ra.add_relative_absolute_position_constraint('b', 'b_4', 5, 6, 0, 1)
ra.run()
rec_a = ra.get_reconstruction('a')
rec_b = ra.get_reconstruction('b')
assert np.allclose(get_reconstruction_origin(rec_a), [5, 5, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_b), [4, 4, 0], atol=1e-6)
assert np.allclose(rec_a.scale, 1)
assert np.allclose(rec_b.scale, 1)
def test_two_reconstructions_common_camera():
"""Two reconstructions"""
ra = pybundle.ReconstructionAlignment()
ra.add_shot("a_1", 0, 0, 0, -1, 0, 0, True)
ra.add_shot("a_2", 0, 0, 0, -2, 0, 0, True)
ra.add_shot("a_3", 0, 0, 0, 0, 0, 0, True)
ra.add_shot("a_4", 0, 0, 0, 0, -1, 0, True)
ra.add_shot("a_5", 0, 0, 0, -1, 0, 0, True)
ra.add_reconstruction("a", 0, 0, 0, 0, 0, 0, 1, True)
ra.add_shot("b_3", 0, 0, 0, -1, -1, 0, True)
ra.add_shot("b_4", 0, 0, 0, -1, -2, 0, True)
ra.add_shot("b_5", 0, 0, 0, -2, -1, 0, True)
ra.add_shot("b_6", 0, 0, 0, -4, 0, 0, True)
ra.add_shot("b_7", 0, 0, 0, -5, 0, 0, True)
ra.add_reconstruction("b", 0, 0, 0, 0, 0, 0, 1, False)
ra.add_common_camera_constraint("a", "a_3", "b", "b_3", 1, 1)
ra.add_common_camera_constraint("a", "a_4", "b", "b_4", 1, 1)
ra.add_common_camera_constraint("a", "a_5", "b", "b_5", 1, 1)
ra.run()
rec_a = ra.get_reconstruction("a")
rec_b = ra.get_reconstruction("b")
assert np.allclose(get_reconstruction_origin(rec_a), [0, 0, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_b), [-1, -1, 0],
atol=1e-6)
assert np.allclose(rec_a.scale, 1)
assert np.allclose(rec_b.scale, 1)
def test_two_reconstructions_rigid_alignment():
"""Two reconstructions"""
ra = pybundle.ReconstructionAlignment()
ra.add_shot("a_1", 0, 0, 0, -1, 0, 0, True)
ra.add_shot("a_2", 0, 0, 0, -2, 0, 0, True)
ra.add_shot("a_3", 0, 0, 0, 0, 0, 0, True)
ra.add_shot("a_4", 0, 0, 0, 0, -1, 0, True)
ra.add_shot("a_5", 0, 0, 0, -1, 0, 0, True)
ra.add_reconstruction("a", 0, 0, 0, 0, 0, 0, 1, False)
ra.add_shot("b_3", 0, 0, 0, -1, -1, 0, True)
ra.add_shot("b_4", 0, 0, 0, -1, -2, 0, True)
ra.add_shot("b_5", 0, 0, 0, -2, -1, 0, True)
ra.add_shot("b_6", 0, 0, 0, -4, 0, 0, True)
ra.add_shot("b_7", 0, 0, 0, -5, 0, 0, True)
ra.add_reconstruction("b", 0, 0, 0, 0, 0, 0, 1, False)
ra.add_relative_absolute_position_constraint("a", "a_3", 5, 5, 0, 1)
ra.add_relative_absolute_position_constraint("a", "a_4", 5, 6, 0, 1)
ra.add_relative_absolute_position_constraint("b", "b_3", 5, 5, 0, 1)
ra.add_relative_absolute_position_constraint("b", "b_4", 5, 6, 0, 1)
ra.run()
rec_a = ra.get_reconstruction("a")
rec_b = ra.get_reconstruction("b")
assert np.allclose(get_reconstruction_origin(rec_a), [5, 5, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_b), [4, 4, 0], atol=1e-6)
assert np.allclose(rec_a.scale, 1)
assert np.allclose(rec_b.scale, 1)
def test_single_shot():
"""Single shot test."""
ra = pybundle.ReconstructionAlignment()
ra.add_shot('1', 0.5, 0, 0, 0, 0, 0, False)
ra.add_absolute_position_constraint('1', 1, 0, 0, 1)
ra.run()
s1 = ra.get_shot('1')
assert np.allclose(get_shot_origin(s1), [1, 0, 0], atol=1e-6)
def test_singleton_reconstruction():
"""Single shot in a single reconstruction."""
ra = pybundle.ReconstructionAlignment()
ra.add_shot('1', 0, 0, 0, 0, 0, 0, False)
ra.add_reconstruction('a', 0, 0, 0, 0, 0, 0, 4, False)
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('a', '1', 0, 0, 0, -1, 0, 0))
ra.add_absolute_position_constraint('1', 1, 0, 0, 1)
ra.run()
s1 = ra.get_shot('1')
assert np.allclose(get_shot_origin(s1), [1, 0, 0], atol=1e-6)
def test_common_points():
"""Two reconstructions, two common points"""
ra = pybundle.ReconstructionAlignment()
ra.add_reconstruction('a', 0, 0, 0, 0, 0, 0, 1, True)
ra.add_reconstruction('b', 0, 0, 0, 0, 0, 0, 1, False)
ra.add_common_point_constraint('a', 0, 0, 0, 'b', -1, 0, 0, 1.0)
ra.add_common_point_constraint('a', 1, 0, 0, 'b', 0, 0, 0, 1.0)
ra.run()
rec_b = ra.get_reconstruction('b')
o_b = get_reconstruction_origin(rec_b)
assert np.allclose(o_b, [1, 0, 0], atol=1e-6)
def test_two_reconstructions_soft_alignment():
"""Two reconstructions"""
ra = pybundle.ReconstructionAlignment()
ra.add_shot('1', 0, 0, 0, 0, 0, 0, False)
ra.add_shot('2', 0, 0, 0, 0, 0, 0, False)
ra.add_shot('3', 0, 0, 0, 0, 0, 0, False)
ra.add_shot('4', 0, 0, 0, 0, 0, 0, False)
ra.add_reconstruction('a', 0, 0, 0, 0, 0, 0, 1, False)
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('a', '1', 0, 0, 0, 0, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('a', '2', 0, 0, 0, -1, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('a', '3', 0, 0, 0, -2, 0, 0))
ra.add_reconstruction('b', 0, 0, 0, 0, 0, 0, 1, False)
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('b', '2', 0, 0, 0, 0, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('b', '3', 0, 0, 0, -1, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('b', '4', 0, 0, 0, -2, 0, 0))
ra.add_absolute_position_constraint('1', 1, 0, 0, 1)
ra.add_absolute_position_constraint('2', 2, 0, 0, 1)
ra.run()
s1 = ra.get_shot('1')
s2 = ra.get_shot('2')
s3 = ra.get_shot('3')
s4 = ra.get_shot('4')
rec_a = ra.get_reconstruction('a')
rec_b = ra.get_reconstruction('b')
assert np.allclose(get_shot_origin(s1), [1, 0, 0], atol=1e-6)
assert np.allclose(get_shot_origin(s2), [2, 0, 0], atol=1e-6)
assert np.allclose(get_shot_origin(s3), [3, 0, 0], atol=1e-6)
assert np.allclose(get_shot_origin(s4), [4, 0, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_a), [1, 0, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_b), [2, 0, 0], atol=1e-6)
assert np.allclose(rec_a.scale, 1)
assert np.allclose(rec_b.scale, 1)
def test_two_reconstructions_soft_alignment():
"""Two reconstructions"""
ra = pybundle.ReconstructionAlignment()
ra.add_shot("1", 0, 0, 0, 0, 0, 0, False)
ra.add_shot("2", 0, 0, 0, 0, 0, 0, False)
ra.add_shot("3", 0, 0, 0, 0, 0, 0, False)
ra.add_shot("4", 0, 0, 0, 0, 0, 0, False)
ra.add_reconstruction("a", 0, 0, 0, 0, 0, 0, 1, False)
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint("a", "1", 0, 0, 0, 0, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint("a", "2", 0, 0, 0, -1, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint("a", "3", 0, 0, 0, -2, 0, 0))
ra.add_reconstruction("b", 0, 0, 0, 0, 0, 0, 1, False)
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint("b", "2", 0, 0, 0, 0, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint("b", "3", 0, 0, 0, -1, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint("b", "4", 0, 0, 0, -2, 0, 0))
ra.add_absolute_position_constraint("1", 1, 0, 0, 1)
ra.add_absolute_position_constraint("2", 2, 0, 0, 1)
ra.run()
s1 = ra.get_shot("1")
s2 = ra.get_shot("2")
s3 = ra.get_shot("3")
s4 = ra.get_shot("4")
rec_a = ra.get_reconstruction("a")
rec_b = ra.get_reconstruction("b")
assert np.allclose(get_shot_origin(s1), [1, 0, 0], atol=1e-6)
assert np.allclose(get_shot_origin(s2), [2, 0, 0], atol=1e-6)
assert np.allclose(get_shot_origin(s3), [3, 0, 0], atol=1e-6)
assert np.allclose(get_shot_origin(s4), [4, 0, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_a), [1, 0, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_b), [2, 0, 0], atol=1e-6)
assert np.allclose(rec_a.scale, 1)
assert np.allclose(rec_b.scale, 1)
def test_pair():
"""Simple single reconstruction two shots test."""
ra = pybundle.ReconstructionAlignment()
ra.add_shot('1', 0, 0, 0, 0, 0, 0, False)
ra.add_shot('2', 0, 0, 0, 0, 0, 0, False)
ra.add_reconstruction('a', 0, 0, 0, 0, 0, 0, 4, False)
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('a', '1', 0, 0, 0, 0, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('a', '2', 0, 0, 0, -1, 0, 0))
ra.add_absolute_position_constraint('1', 1, 0, 0, 1)
ra.add_absolute_position_constraint('2', 3, 0, 0, 1)
ra.run()
s1 = ra.get_shot('1')
s2 = ra.get_shot('2')
rec_a = ra.get_reconstruction('a')
assert np.allclose(get_shot_origin(s1), [1, 0, 0], atol=1e-6)
assert np.allclose(get_shot_origin(s2), [3, 0, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_a), [1, 0, 0], atol=1e-6)
assert np.allclose(rec_a.scale, 0.5)
def test_two_shots_one_fixed():
"""Two shot, one reconstruction. One shot is fixed"""
ra = pybundle.ReconstructionAlignment()
ra.add_shot('1', 0, 0, 0, -1, 0, 0, True)
ra.add_shot('2', 0, 0, 0, 0, 0, 0, False)
ra.add_reconstruction('a', 0, 0, 0, 0, 0, 0, 1, False)
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('a', '1', 0, 0, 0, 0, 0, 0))
ra.add_relative_motion_constraint(
pybundle.RARelativeMotionConstraint('a', '2', 0, 0, 0, -1, 0, 0))
# Next line should be ignored because shot 1 is fixed
ra.add_absolute_position_constraint('1', 100, 0, 0, 1)
ra.add_absolute_position_constraint('2', 3, 0, 0, 1)
ra.run()
s1 = ra.get_shot('1')
s2 = ra.get_shot('2')
rec_a = ra.get_reconstruction('a')
assert np.allclose(get_shot_origin(s1), [1, 0, 0], atol=1e-6)
assert np.allclose(get_shot_origin(s2), [3, 0, 0], atol=1e-6)
assert np.allclose(get_reconstruction_origin(rec_a), [1, 0, 0], atol=1e-6)
assert np.allclose(rec_a.scale, 0.5)
