def test_relative_pose():
print("Testing relative pose")
d = RelativePoseDataset(10, 0.0, 0.0)
# running experiments
twopt_translation = pyopengv.relative_pose_twopt(d.bearing_vectors1,
d.bearing_vectors2,
d.rotation)
fivept_nister_essentials = pyopengv.relative_pose_fivept_nister(
d.bearing_vectors1, d.bearing_vectors2)
fivept_kneip_rotations = pyopengv.relative_pose_fivept_kneip(
d.bearing_vectors1, d.bearing_vectors2)
sevenpt_essentials = pyopengv.relative_pose_sevenpt(
d.bearing_vectors1, d.bearing_vectors2)
eightpt_essential = pyopengv.relative_pose_eightpt(d.bearing_vectors1,
d.bearing_vectors2)
t_perturbed, R_perturbed = getPerturbedPose(d.position, d.rotation, 0.01)
eigensolver_rotation = pyopengv.relative_pose_eigensolver(
d.bearing_vectors1, d.bearing_vectors2, R_perturbed)
t_perturbed, R_perturbed = getPerturbedPose(d.position, d.rotation, 0.1)
nonlinear_transformation = pyopengv.relative_pose_optimize_nonlinear(
d.bearing_vectors1, d.bearing_vectors2, t_perturbed, R_perturbed)
assert proportional(d.position, twopt_translation)
assert matrix_in_list(d.essential, fivept_nister_essentials)
assert matrix_in_list(d.rotation, fivept_kneip_rotations)
assert matrix_in_list(d.essential, sevenpt_essentials)
assert proportional(d.essential, eightpt_essential)
assert proportional(d.rotation, eigensolver_rotation)
assert same_transformation(d.position, d.rotation,
nonlinear_transformation)
print("Done testing relative pose")
def test_relative_pose():
print "Testing relative pose"
d = RelativePoseDataset(10, 0.0, 0.0)
# running experiments
twopt_translation = pyopengv.relative_pose_twopt(d.bearing_vectors1, d.bearing_vectors2, d.rotation)
fivept_nister_essentials = pyopengv.relative_pose_fivept_nister(d.bearing_vectors1, d.bearing_vectors2)
fivept_kneip_rotations = pyopengv.relative_pose_fivept_kneip(d.bearing_vectors1, d.bearing_vectors2)
sevenpt_essentials = pyopengv.relative_pose_sevenpt(d.bearing_vectors1, d.bearing_vectors2)
eightpt_essential = pyopengv.relative_pose_eightpt(d.bearing_vectors1, d.bearing_vectors2)
t_perturbed, R_perturbed = getPerturbedPose( d.position, d.rotation, 0.01)
eigensolver_rotation = pyopengv.relative_pose_eigensolver(d.bearing_vectors1, d.bearing_vectors2, R_perturbed)
t_perturbed, R_perturbed = getPerturbedPose( d.position, d.rotation, 0.1)
nonlinear_transformation = pyopengv.relative_pose_optimize_nonlinear(d.bearing_vectors1, d.bearing_vectors2, t_perturbed, R_perturbed)
assert proportional(d.position, twopt_translation)
assert matrix_in_list(d.essential, fivept_nister_essentials)
assert matrix_in_list(d.rotation, fivept_kneip_rotations)
assert matrix_in_list(d.essential, sevenpt_essentials)
assert proportional(d.essential, eightpt_essential)
assert proportional(d.rotation, eigensolver_rotation)
assert same_transformation(d.position, d.rotation, nonlinear_transformation)
print "Done testing relative pose"