def __init__(self):
"""Defaut constructor"""
self.map = pymap.Map()
self.camera_view = pymap.CameraView(self.map)
self.shot_view = pymap.ShotView(self.map)
self.pano_shot_view = pymap.PanoShotView(self.map)
self.landmark_view = pymap.LandmarkView(self.map)
def test_many_observations_delete():
# Given a map with 10 shots, 1000 landmarks ...
m = pymap.Map()
n_cams = 2
n_shots = 10
n_landmarks = 1000
for cam_id in range(n_cams):
cam = pygeometry.Camera.create_perspective(0.5, 0, 0)
cam.id = "cam" + str(cam_id)
m.create_camera(cam)
for shot_id in range(n_shots):
m.create_shot(str(shot_id), "cam" + str(int(np.random.rand(1) * 10 % n_cams)))
for point_id in range(n_landmarks):
m.create_landmark(str(point_id), np.random.rand(3))
# ... and random connections (observations) between shots and points
n_total_obs = 0
for lm in m.get_landmarks().values():
n_obs = 0
for shot in m.get_shots().values():
# create a new observation
obs = pysfm.Observation(100, 200, 0.5, 255, 0, 0, int(lm.id))
m.add_observation(shot, lm, obs)
n_obs += 1
n_total_obs += 1
# (we expect it to be created correctly)
for lm in m.get_landmarks().values():
n_total_obs -= lm.number_of_observations()
assert n_total_obs == 0
# and when we clear all the observations
m.clear_observations_and_landmarks()
def __init__(self):
"""Defaut constructor"""
self.map = pymap.Map()
self.camera_view = pymap.CameraView(self.map)
self.rig_models_view = pymap.RigModelView(self.map)
self.rig_instances_view = pymap.RigInstanceView(self.map)
self.shot_view = pymap.ShotView(self.map)
self.pano_shot_view = pymap.PanoShotView(self.map)
self.landmark_view = pymap.LandmarkView(self.map)
def __init__(self) -> None:
"""Defaut constructor"""
self.map = pymap.Map()
self.camera_view = pymap.CameraView(self.map)
self.bias_view = pymap.BiasView(self.map)
self.rig_cameras_view = pymap.RigCameraView(self.map)
self.rig_instances_view = pymap.RigInstanceView(self.map)
self.shot_view = pymap.ShotView(self.map)
self.pano_shot_view = pymap.PanoShotView(self.map)
self.landmark_view = pymap.LandmarkView(self.map)
def test_many_observations_delete():
# Given a map with 10 shots, 1000 landmarks ...
m = pymap.Map()
n_cams = 2
n_shots = 10
n_landmarks = 1000
for cam_id in range(n_cams):
cam = pygeometry.Camera.create_perspective(0.5, 0, 0)
cam.id = "cam" + str(cam_id)
m.create_camera(cam)
for shot_id in range(n_shots):
m.create_shot(str(shot_id),
"cam" + str(int(np.random.rand(1) * 10 % n_cams)))
for point_id in range(n_landmarks):
m.create_landmark(str(point_id), np.random.rand(3))
# ... and random connections (observations) between shots and points
n_total_obs = 0
for lm in m.get_landmarks().values():
n_obs = 0
for shot in m.get_shots().values():
# create a new observation
obs = pysfm.Observation(100, 200, 0.5, 255, 0, 0, int(lm.id))
m.add_observation(shot, lm, obs)
n_obs += 1
n_total_obs += 1
# (we expect it to be created correctly)
for lm in m.get_landmarks().values():
n_total_obs -= lm.number_of_observations()
assert n_total_obs == 0
# When we remove the observations for half of the shots
for lm in m.get_landmarks().values():
for shot_id in range(int(n_shots / 2)):
m.remove_observation(str(shot_id), lm.id)
# Then each each landmark has N/2 observations
assert lm.number_of_observations() == int(n_shots / 2)
# Then there #shots x #points observations remaning
n_total_obs = 0
for shot in m.get_shots().values():
n_total_obs += shot.compute_num_valid_pts(1)
assert n_total_obs == int((n_shots * n_landmarks) / 2)
# and when we clear all the observations
m.clear_observations_and_landmarks()
# Then there's none
assert m.number_of_landmarks() == 0
def test_clean_landmarks_with_min_observations() -> None:
m = pymap.Map()
n_cams = 2
n_shots = 2
n_landmarks = 10
for cam_id in range(n_cams):
cam = pygeometry.Camera.create_perspective(0.5, 0, 0)
cam.id = "cam" + str(cam_id)
m.create_camera(cam)
m.create_rig_camera(pymap.RigCamera(pygeometry.Pose(), cam.id))
for shot_id in range(n_shots):
cam_id = "cam" + str(int(np.random.rand(1) * 10 % n_cams))
m.create_rig_instance(str(shot_id))
m.create_shot(str(shot_id), cam_id, cam_id, str(shot_id),
pygeometry.Pose())
for point_id in range(n_landmarks):
m.create_landmark(str(point_id), np.random.rand(3))
for point_id in range(int(n_landmarks / 2)):
for shot in m.get_shots().values():
# create a new observation
obs = pymap.Observation(100, 200, 0.5, 255, 0, 0, point_id)
m.add_observation(shot, m.get_landmark(str(point_id)), obs)
for point_id in range(int(n_landmarks / 2), n_landmarks):
shot = m.get_shot("0")
# create a new observation
obs = pymap.Observation(100, 200, 0.5, 255, 0, 0, point_id)
m.add_observation(shot, m.get_landmark(str(point_id)), obs)
m.clean_landmarks_below_min_observations(n_shots)
assert len(m.get_landmarks()) == int(n_landmarks / 2)
m.clean_landmarks_below_min_observations(n_shots + 1)
assert len(m.get_landmarks()) == 0
