def test_track_triangulator_equirectangular():
"""Test triangulating tracks of spherical images."""
graph = nx.Graph()
graph.add_node('im1', bipartite=0)
graph.add_node('im2', bipartite=0)
graph.add_node('1', bipartite=1)
graph.add_edge('im1',
'1',
feature=(0, 0),
feature_scale=1.0,
feature_id=0,
feature_color=0)
graph.add_edge('im2',
'1',
feature=(-0.1, 0),
feature_scale=1.0,
feature_id=1,
feature_color=0)
rec = io.reconstruction_from_json({
"cameras": {
"theta": {
"projection_type": "equirectangular",
"width": 800,
"height": 400,
}
},
"shots": {
'im1': {
"camera": "theta",
"rotation": [0.0, 0.0, 0.0],
"translation": [0.0, 0.0, 0.0],
},
'im2': {
"camera": "theta",
"rotation": [0, 0, 0.0],
"translation": [-1, 0, 0.0],
},
},
"points": {},
})
graph_inliers = nx.Graph()
triangulator = reconstruction.TrackTriangulator(graph, graph_inliers, rec)
triangulator.triangulate('1', 0.01, 2.0)
assert '1' in rec.points
p = rec.points['1'].coordinates
assert np.allclose(p, [0, 0, 1.3763819204711])
assert len(graph_inliers.edges()) == 2
def test_track_triangulator_equirectangular():
"""Test triangulating tracks of spherical images."""
graph = nx.Graph()
graph.add_node('im1', bipartite=0)
graph.add_node('im2', bipartite=0)
graph.add_node('1', bipartite=1)
graph.add_edge('im1', '1', feature=(0, 0))
graph.add_edge('im2', '1', feature=(-0.1, 0))
reconstruction = io.reconstruction_from_json({
"cameras": {
"theta": {
"projection_type": "equirectangular",
"width": 800,
"height": 400,
}
},
"shots": {
'im1': {
"camera": "theta",
"rotation": [0.0, 0.0, 0.0],
"translation": [0.0, 0.0, 0.0],
},
'im2': {
"camera": "theta",
"rotation": [0, 0, 0.0],
"translation": [-1, 0, 0.0],
},
},
"points": {
},
})
triangulator = opensfm.reconstruction.TrackTriangulator(graph,
reconstruction)
triangulator.triangulate('1', 0.01, 2.0)
assert '1' in reconstruction.points
p = reconstruction.points['1'].coordinates
assert np.allclose(p, [0, 0, 1.3763819204711])
def test_triangulate_track_equirectangular():
graph = nx.Graph()
graph.add_node('im1', bipartite=0)
graph.add_node('im2', bipartite=0)
graph.add_node('1', bipartite=1)
graph.add_edge('im1', '1', feature=(0, 0))
graph.add_edge('im2', '1', feature=(-0.1, 0))
reconstruction = io.reconstruction_from_json({
"cameras": {
"theta": {
"projection_type": "equirectangular",
"width": 800,
"height": 400,
}
},
"shots": {
'im1': {
"camera": "theta",
"rotation": [0.0, 0.0, 0.0],
"translation": [0.0, 0.0, 0.0],
},
'im2': {
"camera": "theta",
"rotation": [0, 0, 0.0],
"translation": [-1, 0, 0.0],
},
},
"points": {
},
})
opensfm.reconstruction.triangulate_track(
'1', graph, reconstruction, {}, 0.01, 2.0)
assert '1' in reconstruction.points
p = reconstruction.points['1'].coordinates
assert np.allclose(p, [0, 0, 1.3763819204711])
def test_track_triangulator_equirectangular():
"""Test triangulating tracks of spherical images."""
tracks_manager = pysfm.TracksManager()
tracks_manager.add_observation('im1', '1',
pysfm.Observation(0, 0, 1.0, 0, 0, 0, 0))
tracks_manager.add_observation('im2', '1',
pysfm.Observation(-0.1, 0, 1.0, 0, 0, 0, 1))
rec = io.reconstruction_from_json({
"cameras": {
"theta": {
"projection_type": "equirectangular",
"width": 800,
"height": 400,
}
},
"shots": {
'im1': {
"camera": "theta",
"rotation": [0.0, 0.0, 0.0],
"translation": [0.0, 0.0, 0.0],
},
'im2': {
"camera": "theta",
"rotation": [0, 0, 0.0],
"translation": [-1, 0, 0.0],
},
},
"points": {},
})
graph_inliers = nx.Graph()
triangulator = reconstruction.TrackTriangulator(tracks_manager,
graph_inliers, rec)
triangulator.triangulate('1', 0.01, 2.0)
assert '1' in rec.points
p = rec.points['1'].coordinates
assert np.allclose(p, [0, 0, 1.3763819204711])
assert len(graph_inliers.edges()) == 2
def test_track_triangulator_spherical():
"""Test triangulating tracks of spherical images."""
tracks_manager = pysfm.TracksManager()
tracks_manager.add_observation("im1", "1", pysfm.Observation(0, 0, 1.0, 0, 0, 0, 0))
tracks_manager.add_observation(
"im2", "1", pysfm.Observation(-0.1, 0, 1.0, 0, 0, 0, 1)
)
rec = io.reconstruction_from_json(
{
"cameras": {
"theta": {
"projection_type": "spherical",
"width": 800,
"height": 400,
}
},
"shots": {
"im1": {
"camera": "theta",
"rotation": [0.0, 0.0, 0.0],
"translation": [0.0, 0.0, 0.0],
},
"im2": {
"camera": "theta",
"rotation": [0, 0, 0.0],
"translation": [-1, 0, 0.0],
},
},
"points": {},
}
)
triangulator = reconstruction.TrackTriangulator(tracks_manager, rec)
triangulator.triangulate("1", 0.01, 2.0)
assert "1" in rec.points
p = rec.points["1"].coordinates
assert np.allclose(p, [0, 0, 1.3763819204711])
assert len(rec.points["1"].get_observations()) == 2
