def add_pano_subshot_tracks(
tracks_manager: pymap.TracksManager,
utracks_manager: pymap.TracksManager,
panoshot: pymap.Shot,
perspectiveshot: pymap.Shot,
) -> None:
"""Add edges between subshots and visible tracks."""
for track_id, obs in tracks_manager.get_shot_observations(panoshot.id).items():
bearing = panoshot.camera.pixel_bearing(obs.point)
rotation = np.dot(
perspectiveshot.pose.get_rotation_matrix(),
panoshot.pose.get_rotation_matrix().T,
)
rotated_bearing = np.dot(bearing, rotation.T)
if rotated_bearing[2] <= 0:
continue
perspective_feature = perspectiveshot.camera.project(rotated_bearing)
if (
perspective_feature[0] < -0.5
or perspective_feature[0] > 0.5
or perspective_feature[1] < -0.5
or perspective_feature[1] > 0.5
):
continue
obs.point = perspective_feature
utracks_manager.add_observation(perspectiveshot.id, track_id, obs)
def add_subshot_tracks(
tracks_manager: pymap.TracksManager,
utracks_manager: pymap.TracksManager,
shot: pymap.Shot,
subshot: pymap.Shot,
) -> None:
"""Add shot tracks to the undistorted tracks_manager."""
if shot.id not in tracks_manager.get_shot_ids():
return
if pygeometry.Camera.is_panorama(shot.camera.projection_type):
add_pano_subshot_tracks(tracks_manager, utracks_manager, shot, subshot)
else:
for track_id, obs in tracks_manager.get_shot_observations(shot.id).items():
utracks_manager.add_observation(subshot.id, track_id, obs)