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Unittest, triangulation for Cal3Unified

release/4.3a0
roderick-koehle 2021-07-11 14:14:08 +02:00 committed by GitHub
parent 941594c94b
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python/gtsam/tests/test_Cal3Unified.py
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@ -105,6 +105,44 @@ class TestCal3Unified(GtsamTestCase):
score = graph.error(state) score = graph.error(state)
self.assertAlmostEqual(score, 0) self.assertAlmostEqual(score, 0)
@unittest.skip("triangulatePoint3 currently seems to require perspective projections.")
def test_triangulation(self):
"""Estimate spatial point from image measurements"""
p1 = [-1.0, 0.0, -1.0]
p2 = [ 1.0, 0.0, -1.0]
q1 = gtsam.Rot3(1.0, 0.0, 0.0, 0.0)
q2 = gtsam.Rot3(1.0, 0.0, 0.0, 0.0)
obj_point = np.array([0.0, 0.0, 0.0])
pose1 = gtsam.Pose3(q1, p1)
pose2 = gtsam.Pose3(q2, p2)
camera1 = gtsam.PinholeCameraCal3Unified(pose1, self.stereographic)
camera2 = gtsam.PinholeCameraCal3Unified(pose2, self.stereographic)
cameras = gtsam.CameraSetCal3Unified([camera1, camera2])
measurements = gtsam.Point2Vector([k.project(obj_point) for k in cameras])
triangulated = gtsam.triangulatePoint3(cameras, measurements, rank_tol=1e-9, optimize=True)
self.gtsamAssertEquals(measurements[0], self.img_point)
self.gtsamAssertEquals(triangulated, obj_point)
def test_triangulation_rectify(self):
"""Estimate spatial point from image measurements using rectification"""
p1 = [-1.0, 0.0, -1.0]
p2 = [ 1.0, 0.0, -1.0]
q1 = gtsam.Rot3(1.0, 0.0, 0.0, 0.0)
q2 = gtsam.Rot3(1.0, 0.0, 0.0, 0.0)
obj_point = np.array([0.0, 0.0, 0.0])
pose1 = gtsam.Pose3(q1, p1)
pose2 = gtsam.Pose3(q2, p2)
camera1 = gtsam.PinholeCameraCal3Unified(pose1, self.stereographic)
camera2 = gtsam.PinholeCameraCal3Unified(pose2, self.stereographic)
cameras = gtsam.CameraSetCal3Unified([camera1, camera2])
measurements = gtsam.Point2Vector([k.project(obj_point) for k in cameras])
rectified = gtsam.Point2Vector([k.calibration().calibrate(pt) for k, pt in zip(cameras, measurements)])
shared_cal = gtsam.Cal3_S2()
poses = gtsam.Pose3Vector([pose1, pose2])
triangulated = gtsam.triangulatePoint3(poses, shared_cal, rectified, rank_tol=1e-9, optimize=False)
self.gtsamAssertEquals(measurements[0], self.img_point)
self.gtsamAssertEquals(triangulated, obj_point)
def test_retract(self): def test_retract(self):
expected = gtsam.Cal3Unified(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6, expected = gtsam.Cal3Unified(100 + 2, 105 + 3, 0.0 + 4, 320 + 5, 240 + 6,
1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1) 1e-3 + 7, 2.0*1e-3 + 8, 3.0*1e-3 + 9, 4.0*1e-3 + 10, 0.1 + 1)