added very basic reconstruction test

lib/sfm/database.py

@@ -131,7 +131,7 @@ def pair_id_to_image_ids(pair_id):
 
 def array_to_blob(array):
     if IS_PYTHON3:
-        return array.tostring()
+        return array.tobytes()
     else:
         return np.getbuffer(array)
 

lib/sfm/sfm.py

@@ -54,15 +54,4 @@ def save_points(self, filename):
             )
 
         with open(filename, "w") as f:
-            f.write("\n".join(lines))
-
-
-if __name__ == "__main__":
-
-    sfm = SFM("D:\\Users\\Sam\\GIT\\L3D\\my_scans\\test\\")
-
-    sfm.process()
-
-    sfm.print_points()
-    sfm.save_points("points3d.csv")
-    sfm.display()
+            f.write("\n".join(lines))

scripts/capture_sequence.py

@@ -52,9 +52,7 @@
 
         # The filename is made out of the date, then the resolution of the camera
         string_time = time.strftime("%Y%m%d-%H%M%S")
-        filename = (
-            f"capture_{string_time}.csv"
-        )
+        filename = f"capture_{string_time}.csv"
 
         filepath = os.path.join(output_dir_full, filename)
         cprint(f"Opening scan file {filepath}\n")

scripts/visualise.py

@@ -26,7 +26,7 @@
         if len(file_points[0]) == 3:
 
             for point_id, point_u, point_v in file_points:
-                image_point = (int(point_u*640), int(point_v*640))
+                image_point = (int(point_u * 640), int(point_v * 640))
                 cv2.drawMarker(display, image_point, color=(0, 255, 0))
                 cv2.putText(
                     display,

test/test_capture_sequence.py

@@ -8,7 +8,7 @@
 
 def test_capture_sequence():
 
-    output_dir_full = os.path.join(os.getcwd(), "my_scans", "test")
+    output_dir_full = os.path.join(os.getcwd(), "test", "scan")
 
     os.makedirs(output_dir_full, exist_ok=True)
 
@@ -26,9 +26,7 @@ def test_capture_sequence():
         )
 
         # The filename is made out of the date, then the resolution of the camera
-        filename = (
-            f"capture_cam_{device_id}.csv"
-        )
+        filename = f"capture_cam_{device_id}.csv"
 
         filepath = os.path.join(output_dir_full, filename)
 
@@ -50,7 +48,7 @@ def test_capture_sequence_correctness():
     mock_camera = MockCamera()
 
     for device_id in range(9):
-        output_dir_full = os.path.join(os.getcwd(), "my_scans", "test")
+        output_dir_full = os.path.join(os.getcwd(), "test", "scan")
         filename = f"capture_cam_{device_id}.csv"
         filepath = os.path.join(output_dir_full, filename)
 

test/test_led_identifier.py

@@ -20,8 +20,8 @@ def test_basic_image_loading():
 
     led_results = led_finder.find_led(mock_camera.read())
 
-    assert close(led_results.u(), 257/640.0)
-    assert close(led_results.v(), 177/480.0)
+    assert close(led_results.u(), 257 / 640.0)
+    assert close(led_results.v(), 177 / 480.0)
 
 
 def test_none_found():

test/test_reconstruction.py

@@ -0,0 +1,14 @@
+import sys
+
+sys.path.append("./")
+
+from lib.sfm.sfm import SFM
+
+
+def test_reconstruction():
+
+    sfm = SFM("test/scan")
+
+    sfm.process()
+
+    sfm.print_points()