def add_point_constraints(ra, reconstruction_shots, reconstruction_name):
connections = connected_reconstructions(reconstruction_shots)
for connection in connections:
i1, (r1, g1) = load_reconstruction(connection[0].submodel_path,
connection[0].index)
i2, (r2, g2) = load_reconstruction(connection[1].submodel_path,
connection[1].index)
rec_name1 = reconstruction_name(connection[0])
rec_name2 = reconstruction_name(connection[1])
scale_treshold = 1.3
treshold_in_meter = 0.3
minimum_inliers = 20
status, T, inliers = reconstruction.resect_reconstruction(
r1, r2, g1, g2, treshold_in_meter, minimum_inliers)
if not status:
continue
s, R, t = multiview.decompose_similarity_transform(T)
if s > scale_treshold or s < (1.0/scale_treshold) or \
len(inliers) < minimum_inliers:
continue
for t1, t2 in inliers:
c1 = r1.points[t1].coordinates
c2 = r2.points[t2].coordinates
ra.add_common_point_constraint(rec_name1, c1[0], c1[1], c1[2],
rec_name2, c2[0], c2[1], c2[2],
1e-1)
def add_point_constraints(ra, reconstruction_shots, reconstruction_name):
connections = connected_reconstructions(reconstruction_shots)
for connection in connections:
i1, (r1, g1) = load_reconstruction(
connection[0].submodel_path, connection[0].index)
i2, (r2, g2) = load_reconstruction(
connection[1].submodel_path, connection[1].index)
rec_name1 = reconstruction_name(connection[0])
rec_name2 = reconstruction_name(connection[1])
scale_treshold = 1.3
treshold_in_meter = 0.3
minimum_inliers = 20
status, T, inliers = reconstruction.resect_reconstruction(
r1, r2, g1, g2, treshold_in_meter, minimum_inliers)
if not status:
continue
s, R, t = multiview.decompose_similarity_transform(T)
if s > scale_treshold or s < (1.0/scale_treshold) or \
len(inliers) < minimum_inliers:
continue
for t1, t2 in inliers:
c1 = r1.points[t1].coordinates
c2 = r2.points[t2].coordinates
ra.add_common_point_constraint(
rec_name1, c1[0], c1[1], c1[2],
rec_name2, c2[0], c2[1], c2[2],
1e-1)
def test_absolute_pose_generalized_shot(scene_synthetic_cube):
"""Whole reconstruction resection (generalized pose) on a toy
reconstruction with 0.01 meter point noise and zero outliers."""
noise = 0.01
parameters = config.default_config()
scene, tracks_manager = scene_synthetic_cube
cluster1, cluster2 = split_synthetic_reconstruction(scene, tracks_manager, 3, noise)
cluster2, translation, scale = move_and_scale_cluster(cluster2)
status, T, inliers = reconstruction.resect_reconstruction(
cluster1,
cluster2,
tracks_manager,
tracks_manager,
2 * noise,
parameters["resection_min_inliers"],
)
assert status is True
s, A, b = multiview.decompose_similarity_transform(T)
np.testing.assert_almost_equal(scale, s, 2)
np.testing.assert_almost_equal(np.eye(3), A, 2)
np.testing.assert_almost_equal(translation, b, 2)
