def relative_pose_ransac_rotation_only(b1, b2, threshold, iterations,
probability):
try:
return pyopengv.relative_pose_ransac_rotation_only(
b1, b2, threshold, iterations=iterations, probability=probability)
except Exception:
# Older versions of pyopengv do not accept the probability argument.
return pyopengv.relative_pose_ransac_rotation_only(
b1, b2, threshold, iterations)
def relative_pose_ransac_rotation_only(b1, b2, threshold, iterations,
probability):
try:
return pyopengv.relative_pose_ransac_rotation_only(
b1, b2, threshold,
iterations=iterations,
probability=probability)
except Exception:
# Older versions of pyopengv do not accept the probability argument.
return pyopengv.relative_pose_ransac_rotation_only(
b1, b2, threshold, iterations)
def test_relative_pose_ransac_rotation_only():
print("Testing relative pose ransac rotation only")
d = RelativePoseDataset(100, 0.0, 0.3, rotation_only=True)
ransac_rotation = pyopengv.relative_pose_ransac_rotation_only(
d.bearing_vectors1, d.bearing_vectors2, 0.01, 1000)
assert proportional(d.rotation, ransac_rotation)
print("Done testing relative pose ransac rotation only")
def test_relative_pose_ransac_rotation_only():
print "Testing relative pose ransac rotation only"
d = RelativePoseDataset(100, 0.0, 0.3, rotation_only=True)
ransac_rotation = pyopengv.relative_pose_ransac_rotation_only(
d.bearing_vectors1, d.bearing_vectors2, 0.01, 1000)
assert proportional(d.rotation, ransac_rotation)
print "Done testing relative pose ransac rotation only"
def two_view_reconstruction_rotation_only(p1, p2, camera1, camera2, threshold):
b1 = camera1.pixel_bearings(p1)
b2 = camera2.pixel_bearings(p2)
t = np.zeros(3)
R = pyopengv.relative_pose_ransac_rotation_only(b1, b2, 1 - np.cos(threshold), 1000)
inliers = _two_view_reconstruction_rotation_only_inliers(b1, b2, R, threshold)
# R = pyopengv.relative_pose_rotation_only(b1[inliers], b2[inliers])
# inliers = _two_view_reconstruction_rotation_only_inliers(b1, b2, R, threshold)
return cv2.Rodrigues(R.T)[0].ravel(), inliers
def test_relative_pose_ransac_rotation_only():
print("Testing relative pose ransac rotation only")
d = RelativePoseDataset(100, 0.0, 0.3, rotation_only=True)
ransac_rotation, inliers = pyopengv.relative_pose_ransac_rotation_only(
d.bearing_vectors1, d.bearing_vectors2, 0.01, 1000, 0.99, True)
print('Inliers: {} out of {}'.format(len(inliers), 100))
assert proportional(d.rotation, ransac_rotation)
print("Done testing relative pose ransac rotation only")
def two_view_reconstruction_rotation_only(p1, p2, camera1, camera2, threshold):
b1 = camera1.pixel_bearings(p1)
b2 = camera2.pixel_bearings(p2)
t = np.zeros(3)
R = pyopengv.relative_pose_ransac_rotation_only(b1, b2, 1 - np.cos(threshold), 1000)
inliers = _two_view_reconstruction_rotation_only_inliers(b1, b2, R, threshold)
# R = pyopengv.relative_pose_rotation_only(b1[inliers], b2[inliers])
# inliers = _two_view_reconstruction_rotation_only_inliers(b1, b2, R, threshold)
return cv2.Rodrigues(R.T)[0].ravel(), inliers
def relative_pose_ransac_rotation_only(b1, b2, threshold, iterations,
probability):
# in-house estimation
if in_house_multiview:
threshold = np.arccos(1 - threshold)
params = pyrobust.RobustEstimatorParams()
params.iterations = 1000
result = pyrobust.ransac_relative_rotation(b1, b2, threshold, params,
pyrobust.RansacType.RANSAC)
return result.lo_model.T
else:
try:
return pyopengv.relative_pose_ransac_rotation_only(
b1,
b2,
threshold,
iterations=iterations,
probability=probability)
except Exception:
# Older versions of pyopengv do not accept the probability argument.
return pyopengv.relative_pose_ransac_rotation_only(
b1, b2, threshold, iterations)
def two_view_reconstruction_rotation_only(p1, p2, camera1, camera2, threshold):
"""Find rotation between two views from point correspondences.
Args:
p1, p2: lists points in the images
camera1, camera2: Camera models
threshold: reprojection error threshold
Returns:
rotation and inlier list
"""
b1 = camera1.pixel_bearings(p1)
b2 = camera2.pixel_bearings(p2)
R = pyopengv.relative_pose_ransac_rotation_only(
b1, b2, 1 - np.cos(threshold), 1000)
inliers = _two_view_rotation_inliers(b1, b2, R, threshold)
return cv2.Rodrigues(R.T)[0].ravel(), inliers
def two_view_reconstruction_rotation_only(p1, p2, camera1, camera2, threshold):
"""Find rotation between two views from point correspondences.
Args:
p1, p2: lists points in the images
camera1, camera2: Camera models
threshold: reprojection error threshold
Returns:
rotation and inlier list
"""
b1 = camera1.pixel_bearings(p1)
b2 = camera2.pixel_bearings(p2)
R = pyopengv.relative_pose_ransac_rotation_only(
b1, b2, 1 - np.cos(threshold), 1000)
inliers = _two_view_rotation_inliers(b1, b2, R, threshold)
return cv2.Rodrigues(R.T)[0].ravel(), inliers
