def resect(data, graph, reconstruction, shot_id):
'''Add a shot to the reconstruction.
'''
exif = data.load_exif(shot_id)
camera_id = exif['camera']
camera = reconstruction['cameras'][camera_id]
bs = []
Xs = []
for track in graph[shot_id]:
if track in reconstruction['points']:
x = graph[track][shot_id]['feature']
b = multiview.pixel_bearing(x, camera)
bs.append(b)
Xs.append(reconstruction['points'][track]['coordinates'])
bs = np.array(bs)
Xs = np.array(Xs)
if len(bs) < 5:
return False
threshold = data.config.get('resection_threshold', 0.004)
T = pyopengv.absolute_pose_ransac(bs, Xs, "KNEIP", 1 - np.cos(threshold),
1000)
R = T[:, :3]
t = T[:, 3]
reprojected_bs = R.T.dot((Xs - t).T).T
reprojected_bs /= np.linalg.norm(reprojected_bs, axis=1)[:, np.newaxis]
inliers = np.linalg.norm(reprojected_bs - bs, axis=1) < threshold
ninliers = sum(inliers)
print 'Resection', shot_id, 'inliers:', ninliers, '/', len(bs)
if ninliers >= data.config.get('resection_min_inliers', 15):
R = cv2.Rodrigues(T[:, :3].T)[0].ravel()
t = -T[:, :3].T.dot(T[:, 3])
reconstruction['shots'][shot_id] = {
"camera": camera_id,
"rotation": list(R.flat),
"translation": list(t.flat),
}
add_gps_position(data, reconstruction['shots'][shot_id], shot_id)
bundle_single_view(graph, reconstruction, shot_id, data.config)
return True
else:
return False
def triangulate_track(track, graph, reconstruction, Rt_by_id, reproj_threshold, min_ray_angle_degrees):
min_ray_angle = np.radians(min_ray_angle_degrees)
Rts, bs = [], []
for shot_id in graph[track]:
if shot_id in reconstruction["shots"]:
shot = reconstruction["shots"][shot_id]
camera = reconstruction["cameras"][shot["camera"]]
if shot_id not in Rt_by_id:
Rt_by_id[shot_id] = Rt_from_shot(shot)
Rts.append(Rt_by_id[shot_id])
x = graph[track][shot_id]["feature"]
b = multiview.pixel_bearing(np.array(x), camera)
bs.append(b)
if len(Rts) >= 2:
e, X = csfm.triangulate_bearings(Rts, bs, reproj_threshold, min_ray_angle)
if X is not None:
reconstruction["points"][track] = {"coordinates": list(X)}
def resect(data, graph, reconstruction, shot_id):
"""Add a shot to the reconstruction.
"""
exif = data.load_exif(shot_id)
camera_id = exif["camera"]
camera = reconstruction["cameras"][camera_id]
bs = []
Xs = []
for track in graph[shot_id]:
if track in reconstruction["points"]:
x = graph[track][shot_id]["feature"]
b = multiview.pixel_bearing(x, camera)
bs.append(b)
Xs.append(reconstruction["points"][track]["coordinates"])
bs = np.array(bs)
Xs = np.array(Xs)
if len(bs) < 5:
return False
threshold = data.config.get("resection_threshold", 0.004)
T = pyopengv.absolute_pose_ransac(bs, Xs, "KNEIP", 1 - np.cos(threshold), 1000)
R = T[:, :3]
t = T[:, 3]
reprojected_bs = R.T.dot((Xs - t).T).T
reprojected_bs /= np.linalg.norm(reprojected_bs, axis=1)[:, np.newaxis]
inliers = np.linalg.norm(reprojected_bs - bs, axis=1) < threshold
ninliers = sum(inliers)
print "Resection", shot_id, "inliers:", ninliers, "/", len(bs)
if ninliers >= data.config.get("resection_min_inliers", 15):
R = cv2.Rodrigues(T[:, :3].T)[0].ravel()
t = -T[:, :3].T.dot(T[:, 3])
reconstruction["shots"][shot_id] = {"camera": camera_id, "rotation": list(R.flat), "translation": list(t.flat)}
add_gps_position(data, reconstruction["shots"][shot_id], shot_id)
bundle_single_view(graph, reconstruction, shot_id, data.config)
return True
else:
return False
def triangulate_track(track, graph, reconstruction, Rt_by_id, reproj_threshold,
min_ray_angle_degrees):
min_ray_angle = np.radians(min_ray_angle_degrees)
Rts, bs = [], []
for shot_id in graph[track]:
if shot_id in reconstruction['shots']:
shot = reconstruction['shots'][shot_id]
camera = reconstruction['cameras'][shot['camera']]
if shot_id not in Rt_by_id:
Rt_by_id[shot_id] = Rt_from_shot(shot)
Rts.append(Rt_by_id[shot_id])
x = graph[track][shot_id]['feature']
b = multiview.pixel_bearing(np.array(x), camera)
bs.append(b)
if len(Rts) >= 2:
e, X = csfm.triangulate_bearings(Rts, bs, reproj_threshold,
min_ray_angle)
if X is not None:
reconstruction['points'][track] = {
"coordinates": list(X),
}
