def compute_inliers_bearings(b1, b2, R, t, threshold=0.01):
"""Compute points that can be triangulated.
Args:
b1, b2: Bearings in the two images.
R, t: Rotation and translation from the second image to the first.
That is the convention and the opposite of many
functions in this module.
threshold: max reprojection error in radians.
Returns:
array: Aray of boolean indicating inliers/outliers
"""
p = pygeometry.triangulate_two_bearings_midpoint_many(b1, b2, R, t)
good_idx = [i for i in range(len(p)) if p[i][0]]
points = np.array([p[i][1] for i in range(len(p)) if p[i][0]])
br1 = points.copy()
br1 /= np.linalg.norm(br1, axis=1)[:, np.newaxis]
br2 = R.T.dot((points - t).T).T
br2 /= np.linalg.norm(br2, axis=1)[:, np.newaxis]
ok1 = np.linalg.norm(br1 - b1[good_idx], axis=1) < threshold
ok2 = np.linalg.norm(br2 - b2[good_idx], axis=1) < threshold
is_ok = ok1 * ok2
inliers = [False] * len(b1)
for i, ok in enumerate(is_ok):
inliers[good_idx[i]] = ok
return inliers
def triangulation_reprojection_bearings(b1, b2, R, t):
"""Return two-views bearings reprojections given their relative pose."""
p = pygeometry.triangulate_two_bearings_midpoint_many(b1, b2, R, t)
good_idx = [i for i in range(len(p)) if p[i][0]]
points = np.array([p[i][1] for i in range(len(p)) if p[i][0]])
br1 = points.copy()
br1 /= np.linalg.norm(br1, axis=1)[:, np.newaxis]
br2 = R.T.dot((points - t).T).T
br2 /= np.linalg.norm(br2, axis=1)[:, np.newaxis]
return br1, br2, good_idx
def _compute_inliers_bearings(b1, b2, T, threshold=0.01):
R = T[:, :3]
t = T[:, 3]
p = np.array(pygeometry.triangulate_two_bearings_midpoint_many(b1, b2, R, t))
br1 = p.copy()
br1 /= np.linalg.norm(br1, axis=1)[:, np.newaxis]
br2 = R.T.dot((p - t).T).T
br2 /= np.linalg.norm(br2, axis=1)[:, np.newaxis]
ok1 = multiview.vector_angle_many(br1, b1) < threshold
ok2 = multiview.vector_angle_many(br2, b2) < threshold
return ok1 * ok2
def _two_view_reconstruction_inliers(b1, b2, R, t, threshold):
"""Compute number of points that can be triangulated.
Args:
b1, b2: Bearings in the two images.
R, t: Rotation and translation from the second image to the first.
That is the convention and the opposite of many
functions in this module.
threshold: max reprojection error in radians.
Returns:
array: Inlier indices.
"""
p = np.array(pygeometry.triangulate_two_bearings_midpoint_many(b1, b2, R, t))
br1 = p.copy()
br1 /= np.linalg.norm(br1, axis=1)[:, np.newaxis]
br2 = R.T.dot((p - t).T).T
br2 /= np.linalg.norm(br2, axis=1)[:, np.newaxis]
ok1 = np.linalg.norm(br1 - b1, axis=1) < threshold
ok2 = np.linalg.norm(br2 - b2, axis=1) < threshold
return np.nonzero(ok1 * ok2)[0]