ransac two-pt translation-only relative pose in python

cmake_build_dms.sh

@@ -0,0 +1 @@
+cmake .. -DBUILD_TESTS=OFF -DBUILD_PYTHON=ON -DPYBIND11_PYTHON_VERSION=3.8 -DPYTHON_INSTALL_DIR=/home/dmaturan/miniconda2/envs/colmap_ws/lib/python3.8/site-packages/ -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX

python/pyopengv.cpp

@@ -9,6 +9,7 @@
 #include <opengv/sac_problems/absolute_pose/AbsolutePoseSacProblem.hpp>
 #include <opengv/sac_problems/relative_pose/CentralRelativePoseSacProblem.hpp>
 #include <opengv/sac_problems/relative_pose/RotationOnlySacProblem.hpp>
+#include <opengv/sac_problems/relative_pose/TranslationOnlySacProblem.hpp>
 #include <opengv/triangulation/methods.hpp>
 
 #include "types.hpp"
@@ -622,6 +623,29 @@ py::object lmeds_rotationOnly(
   return arrayFromRotation(lmeds.model_coefficients_);
 }
 
+py::object ransac_translationOnly(pyarray_d &b1,
+                                  pyarray_d &b2,
+                                  pyarray_d &R,
+                                  double threshold,
+                                  int max_iterations,
+                                  double probability) {
+
+  using namespace opengv::sac_problems::relative_pose;
+
+  CentralRelativeAdapter adapter(b1, b2, R);
+  std::shared_ptr<TranslationOnlySacProblem> relposeproblem_ptr(new TranslationOnlySacProblem(adapter));
+
+  opengv::sac::Ransac<TranslationOnlySacProblem> ransac;
+
+  ransac.sac_model_ = relposeproblem_ptr;
+  ransac.threshold_ = threshold;
+  ransac.max_iterations_ = max_iterations;
+  ransac.probability_ = probability;
+
+  ransac.computeModel();
+  return arrayFromTransformation(ransac.model_coefficients_);
+}
+
 } // namespace relative_pose
 
 namespace triangulation
@@ -667,6 +691,7 @@ py::object triangulate2( pyarray_d &b1,
 
 PYBIND11_MODULE(pyopengv, m) {
   namespace py = pybind11;
+  using namespace pybind11::literals;
 
   m.def("absolute_pose_p2p", pyopengv::absolute_pose::p2p);
   m.def("absolute_pose_p3p_kneip", pyopengv::absolute_pose::p3p_kneip);
@@ -693,16 +718,16 @@ PYBIND11_MODULE(pyopengv, m) {
         py::arg("probability") = 0.99
   );
 
-  m.def("relative_pose_twopt", pyopengv::relative_pose::twopt);
-  m.def("relative_pose_twopt_rotation_only", pyopengv::relative_pose::twopt_rotationOnly);
-  m.def("relative_pose_rotation_only", pyopengv::relative_pose::rotationOnly);
-  m.def("relative_pose_fivept_nister", pyopengv::relative_pose::fivept_nister);
-  m.def("relative_pose_fivept_kneip", pyopengv::relative_pose::fivept_kneip);
-  m.def("relative_pose_sevenpt", pyopengv::relative_pose::sevenpt);
-  m.def("relative_pose_eightpt", pyopengv::relative_pose::eightpt);
-  m.def("relative_pose_eigensolver", pyopengv::relative_pose::eigensolver);
-  m.def("relative_pose_sixpt", pyopengv::relative_pose::sixpt);
-  m.def("relative_pose_optimize_nonlinear", pyopengv::relative_pose::optimize_nonlinear);
+  m.def("relative_pose_twopt", pyopengv::relative_pose::twopt, "b1"_a, "b2"_a, "R"_a);
+  m.def("relative_pose_twopt_rotation_only", pyopengv::relative_pose::twopt_rotationOnly, "b1"_a, "b2"_a);
+  m.def("relative_pose_rotation_only", pyopengv::relative_pose::rotationOnly, "b1"_a, "b2"_a);
+  m.def("relative_pose_fivept_nister", pyopengv::relative_pose::fivept_nister, "b1"_a, "b2"_a);
+  m.def("relative_pose_fivept_kneip", pyopengv::relative_pose::fivept_kneip, "b1"_a, "b2"_a);
+  m.def("relative_pose_sevenpt", pyopengv::relative_pose::sevenpt, "b1"_a, "b2"_a);
+  m.def("relative_pose_eightpt", pyopengv::relative_pose::eightpt, "b1"_a, "b2"_a);
+  m.def("relative_pose_eigensolver", pyopengv::relative_pose::eigensolver, "b1"_a, "b2"_a, "R"_a);
+  m.def("relative_pose_sixpt", pyopengv::relative_pose::sixpt, "b1"_a, "b2"_a);
+  m.def("relative_pose_optimize_nonlinear", pyopengv::relative_pose::optimize_nonlinear, "b1"_a, "b2"_a, "t12"_a, "R12"_a);
   m.def("relative_pose_ransac", pyopengv::relative_pose::ransac,
         py::arg("b1"),
         py::arg("b2"),
@@ -733,9 +758,14 @@ PYBIND11_MODULE(pyopengv, m) {
         py::arg("iterations") = 1000,
         py::arg("probability") = 0.99
   );
-
-
-
-  m.def("triangulation_triangulate", pyopengv::triangulation::triangulate);
-  m.def("triangulation_triangulate2", pyopengv::triangulation::triangulate2);
+  m.def("relative_pose_ransac_translation_only", pyopengv::relative_pose::ransac_translationOnly,
+        py::arg("b1"),
+        py::arg("b2"),
+        py::arg("R"),
+        py::arg("threshold"),
+        py::arg("max_iterations") = 1000,
+        py::arg("probability") = 0.99
+  );
+  m.def("triangulation_triangulate", pyopengv::triangulation::triangulate, "b1"_a, "b2"_a, "t12"_a, "R12"_a);
+  m.def("triangulation_triangulate2", pyopengv::triangulation::triangulate2, "b1"_a, "b2"_a, "t12"_a, "R12"_a);
 }

python/tests.py

@@ -212,6 +212,19 @@ def test_relative_pose_ransac_rotation_only():
     print("Done testing relative pose ransac rotation only")
 
 
+def test_relative_pose_ransac_translation_only():
+    print("Testing relative pose ransac translation only")
+
+    d = RelativePoseDataset(100, 0.0, 0.3)
+
+    ransac_transformation = pyopengv.relative_pose_ransac_translation_only(
+        d.bearing_vectors1, d.bearing_vectors2, d.rotation, 0.01, 1000)
+
+    assert same_transformation(d.position, d.rotation, ransac_transformation)
+
+    print("Done testing relative pose ransac translation only")
+
+
 def test_triangulation():
     print("Testing triangulation")
 
@@ -234,4 +247,5 @@ def test_triangulation():
     test_relative_pose()
     test_relative_pose_ransac()
     test_relative_pose_ransac_rotation_only()
+    test_relative_pose_ransac_translation_only()
     test_triangulation()