plot_points(ax, xs, '.b')
def draw_bundle(bundle):
mpl.rcParams['legend.fontsize'] = 10
pts = np.random.randn(10,3).astype(float)
fig = plt.figure()
ax = fig.gca(projection='3d')
draw_point_cloud(ax, bundle.points())
for camera in bundle.cameras:
draw_pose(ax, camera.R, camera.t)
ax.set_xlim(-10, 10)
ax.set_ylim(-10, 10)
ax.set_zlim(-10, 10)
plt.show()
if __name__ == '__main__':
import sys
import bundle_io
bundle = bundle_io.load(sys.argv[1], sys.argv[2])
for track in bundle.tracks:
track.reprojection = bundle.triangulate(track)
draw_bundle(bundle)
import sys
import numpy as np
from copy import deepcopy
from algebra import *
from bundle import Bundle, Camera, Track, project
from bundle_adjuster import BundleAdjuster
import draw_bundle
import bundle_io
if __name__ == '__main__':
tracks_path = sys.argv[1]
cameras_path = sys.argv[2]
bundle = bundle_io.load(tracks_path, cameras_path)
for track in bundle.tracks:
track.reconstruction = bundle.triangulate(track)
NUM_CAMERAS = 100
NUM_TRACKS = 100
bundle.cameras = bundle.cameras[:NUM_CAMERAS]
bundle.tracks = bundle.tracks[:NUM_TRACKS]
for j,track in enumerate(bundle.tracks):
track.measurements = { i : track.get_measurement(i) for i in range(NUM_CAMERAS) }
param_mask = np.ones(bundle.num_params(), bool)
param_mask[:6] = False
param_mask[9] = False
def draw_bundle(bundle, subspace=None, pose_colors=None):
if subspace is None:
subspace = eye(3)[:2]
#mpl.rcParams['legend.fontsize'] = 10
plt.figure()
pts = bundle.points()
assert pts.shape[1] == 3
draw_point_cloud(pts, subspace)
for i, camera in enumerate(bundle.cameras):
color = pose_colors[i] if pose_colors is not None else 'r'
draw_pose(camera.R, camera.t, subspace, color)
def compute_subspace(bundle):
return pca.compute(bundle.ts(), 2)
if __name__ == '__main__':
import sys
import bundle_io
bundle = bundle_io.load(sys.argv[1], sys.argv[2])
for track in bundle.tracks:
track.reprojection = bundle.triangulate(track)
draw_bundle(bundle)
import sys
import numpy as np
from copy import deepcopy
from algebra import *
from bundle import Bundle, Camera, Track, project
from bundle_adjuster import BundleAdjuster
import draw_bundle
import bundle_io
if __name__ == '__main__':
tracks_path = sys.argv[1]
cameras_path = sys.argv[2]
bundle = bundle_io.load(tracks_path, cameras_path)
for track in bundle.tracks:
track.reconstruction = bundle.triangulate(track)
NUM_CAMERAS = 100
NUM_TRACKS = 100
bundle.cameras = bundle.cameras[:NUM_CAMERAS]
bundle.tracks = bundle.tracks[:NUM_TRACKS]
for j, track in enumerate(bundle.tracks):
track.measurements = {
i: track.get_measurement(i)
for i in range(NUM_CAMERAS)
}
