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release/4.3a0
Varun Agrawal 2020-12-05 18:15:53 -05:00
parent a7248163e8
commit d05f360c11
2 changed files with 32 additions and 16 deletions
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2
python/gtsam/preamble.h
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@ -11,4 +11,4 @@ PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::P
PYBIND11_MAKE_OPAQUE(std::vector<boost::shared_ptr<gtsam::BetweenFactor<gtsam::Pose2> > >);
PYBIND11_MAKE_OPAQUE(std::vector<gtsam::IndexPair>);
PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3Bundler> >);
PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> >);
PYBIND11_MAKE_OPAQUE(gtsam::CameraSet<gtsam::PinholeCamera<gtsam::Cal3_S2> >);

46
python/gtsam/tests/test_Triangulation.py
View File

@ -39,12 +39,14 @@ class TestVisualISAMExample(GtsamTestCase):
# landmark ~5 meters infront of camera
self.landmark = Point3(5, 0.5, 1.2)
def generate_measurements(self, calibration, camera_model, camera_set, *cal_params):
""" Generate vector of measurements for given calibration and camera model
def generate_measurements(self, calibration, camera_model, cal_params, camera_set=None):
"""
Generate vector of measurements for given calibration and camera model.
Args:
calibration: Camera calibration e.g. Cal3_S2
camera_model: Camera model e.g. PinholeCameraCal3_S2
cal_params: (list of) camera parameters e.g. K1, K2
cal_params: Iterable of camera parameters for `calibration` e.g. [K1, K2]
camera_set: Cameraset object (for individual calibrations)
Returns:
list of measurements and list/CameraSet object for cameras
@ -69,11 +71,15 @@ class TestVisualISAMExample(GtsamTestCase):
# Some common constants
sharedCal = (1500, 1200, 0, 640, 480)
measurements, _ = self.generate_measurements(
Cal3_S2, PinholeCameraCal3_S2, None, sharedCal, sharedCal)
measurements, _ = self.generate_measurements(Cal3_S2,
PinholeCameraCal3_S2,
(sharedCal, sharedCal))
triangulated_landmark = triangulatePoint3(self.poses, Cal3_S2(
sharedCal), measurements, rank_tol=1e-9, optimize=True)
triangulated_landmark = triangulatePoint3(self.poses,
Cal3_S2(sharedCal),
measurements,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)
# Add some noise and try again: result should be ~ (4.995, 0.499167, 1.19814)
@ -81,8 +87,12 @@ class TestVisualISAMExample(GtsamTestCase):
measurements_noisy.append(measurements[0] - np.array([0.1, 0.5]))
measurements_noisy.append(measurements[1] - np.array([-0.2, 0.3]))
triangulated_landmark = triangulatePoint3(self.poses, Cal3_S2(
sharedCal), measurements_noisy, rank_tol=1e-9, optimize=True)
triangulated_landmark = triangulatePoint3(self.poses,
Cal3_S2(sharedCal),
measurements_noisy,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-2)
def test_distinct_Ks(self):
@ -91,8 +101,10 @@ class TestVisualISAMExample(GtsamTestCase):
K1 = (1500, 1200, 0, 640, 480)
K2 = (1600, 1300, 0, 650, 440)
measurements, cameras = self.generate_measurements(
Cal3_S2, PinholeCameraCal3_S2, CameraSetCal3_S2, K1, K2)
measurements, cameras = self.generate_measurements(Cal3_S2,
PinholeCameraCal3_S2,
(K1, K2),
camera_set=CameraSetCal3_S2)
triangulated_landmark = triangulatePoint3(
cameras, measurements, rank_tol=1e-9, optimize=True)
@ -104,11 +116,15 @@ class TestVisualISAMExample(GtsamTestCase):
K1 = (1500, 0, 0, 640, 480)
K2 = (1600, 0, 0, 650, 440)
measurements, cameras = self.generate_measurements(
Cal3Bundler, PinholeCameraCal3Bundler, CameraSetCal3Bundler, K1, K2)
measurements, cameras = self.generate_measurements(Cal3Bundler,
PinholeCameraCal3Bundler,
(K1, K2),
camera_set=CameraSetCal3Bundler)
triangulated_landmark = triangulatePoint3(
cameras, measurements, rank_tol=1e-9, optimize=True)
triangulated_landmark = triangulatePoint3(cameras,
measurements,
rank_tol=1e-9,
optimize=True)
self.gtsamAssertEquals(self.landmark, triangulated_landmark, 1e-9)