def two_view_reconstruction_rotation_only(
p1: np.ndarray,
p2: np.ndarray,
camera1: pygeometry.Camera,
camera2: pygeometry.Camera,
threshold: float,
) -> Tuple[np.ndarray, List[int]]:
"""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_bearing_many(p1)
b2 = camera2.pixel_bearing_many(p2)
R = multiview.relative_pose_ransac_rotation_only(b1, b2, threshold, 1000,
0.999)
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_bearing_many(p1)
b2 = camera2.pixel_bearing_many(p2)
R = multiview.relative_pose_ransac_rotation_only(
b1, b2, 1 - np.cos(threshold), 1000, 0.999)
inliers = _two_view_rotation_inliers(b1, b2, R, threshold)
return cv2.Rodrigues(R.T)[0].ravel(), inliers
