def ut_add_keyframe_with_ba():
input = SequenceManager(
"/Users/jimmy/Desktop/ptz_slam_dataset/basketball/basketball_anno.mat",
"/Users/jimmy/Desktop/ptz_slam_dataset/basketball/images",
"/Users/jimmy/PycharmProjects/ptz_slam/Camera-Calibration/basketball/objects_basketball.mat"
)
camera_center = input.get_camera_center()
base_rotation = input.get_base_rotation()
u = 1280 / 2
v = 720 / 2
image_index = [0] # 680, 690, 700, 730, 800
im = input.get_image(image_index[0])
ptz = input.get_ptz(image_index[0])
keyframe = KeyFrame(im, image_index[0], camera_center, base_rotation, u, v,
ptz[0], ptz[1], ptz[2])
a_map = Map('orb')
a_map.add_first_keyframe(keyframe, False)
# test the result frames
for i in range(1, 3600, 5):
ptz = input.get_ptz(i)
im = input.get_image(i)
keyframe = KeyFrame(im, i, camera_center, base_rotation, u, v, ptz[0],
ptz[1], ptz[2])
if a_map.good_new_keyframe(ptz, 10, 25, 1280, False):
print('add key frame from index %d, pan angle %f' % (i, ptz[0]))
a_map.add_keyframe_with_ba(keyframe, '.', True)
print('number of keyframe is %d' % (len(a_map.keyframe_list)))
def ut_add_first_key_frame():
input = SequenceManager(
"/Users/jimmy/Desktop/ptz_slam_dataset/basketball/basketball_anno.mat",
"/Users/jimmy/Desktop/ptz_slam_dataset/basketball/images",
"/Users/jimmy/PycharmProjects/ptz_slam/Camera-Calibration/basketball/objects_basketball.mat"
)
camera_center = input.get_camera_center()
base_rotation = input.get_base_rotation()
u = 1280 / 2
v = 720 / 2
image_index = [0] # 680, 690, 700, 730, 800
im = input.get_image(image_index[0])
ptz = input.get_ptz(image_index[0])
keyframe = KeyFrame(im, image_index[0], camera_center, base_rotation, u, v,
ptz[0], ptz[1], ptz[2])
a_map = Map()
a_map.add_first_keyframe(keyframe, True)