Merge pull request #44 from NathanMOlson/357_cleanup

Fix unit tests

Author: smathermather

opensfm/actions/export_bundler.py

@@ -60,11 +60,7 @@ def export_bundler(
             if shot_id in shots:
                 shot = shots[shot_id]
                 camera = shot.camera
-                if shot.camera.projection_type == "brown":
-                    # Will approximate Brown model, not optimal
-                    focal_normalized = camera.focal_x
-                else:
-                    focal_normalized = camera.focal
+                focal_normalized = camera.focal
                 scale = max(camera.width, camera.height)
                 focal = focal_normalized * scale
                 k1 = camera.k1

opensfm/exif.py

@@ -755,9 +755,10 @@ def camera_from_exif_metadata(
         )
     elif calib_pt == "brown":
         camera = pygeometry.Camera.create_brown(
-            calib.get('focal_x', calib.get('focal')), calib.get('focal_y', calib.get('focal')) / calib.get('focal_x', calib.get('focal')),
-            np.array([calib.get('c_x', 0.0), calib.get('c_y', 0.0)]),
-            np.array([calib.get('k1', 0.0), calib.get('k2', 0.0), calib.get('k3', 0.0), calib.get('p1', 0.0), calib.get('p2', 0.0)])
+            calib["focal_x"],
+            calib["focal_y"] / calib["focal_x"],
+            np.array([calib["c_x"], calib["c_y"]]),
+            np.array([calib["k1"], calib["k2"], calib["k3"], calib["p1"], calib["p2"]]),
         )
     elif calib_pt == 'fisheye':
         camera = pygeometry.Camera.create_fisheye(

opensfm/report.py

@@ -185,12 +185,13 @@ def make_dataset_summary(self) -> None:
             ],
             [
                 "Processing Time",
-                #f"{self.stats['processing_statistics']['steps_times']['Total Time']:.2f} seconds",
-                self.stats['odm_processing_statistics']['total_time_human'],
+                f"{self.stats['processing_statistics']['steps_times']['Total Time']:.2f} seconds",
             ],
             ["Capture Start", self.stats["processing_statistics"]["start_date"]],
             ["Capture End", self.stats["processing_statistics"]["end_date"]],
         ]
+        if self.stats.get('odm_processing_statistics') and self.stats['odm_processing_statistics'].get('total_time_human'):
+            rows[2][1] = self.stats['odm_processing_statistics']['total_time_human'],
         self._make_table(None, rows, True)
         self.pdf.set_xy(self.margin, self.pdf.get_y() + self.margin)
 
@@ -258,7 +259,7 @@ def make_processing_summary(self) -> None:
                 ])
 
         # GSD (if available)
-        if self.stats['odm_processing_statistics'].get('average_gsd'):
+        if self.stats.get('odm_processing_statistics') and self.stats['odm_processing_statistics'].get('average_gsd'):
             rows.insert(3, [
                 "Average Ground Sampling Distance (GSD)",
                 f"{self.stats['odm_processing_statistics']['average_gsd']:.1f} cm"

opensfm/src/geometry/CMakeLists.txt

@@ -50,6 +50,11 @@ target_link_libraries(pygeometry
     foundation
     pybind11
 )
+
+if (OPENSFM_BUILD_TESTS)
+target_link_libraries(pygeometry PRIVATE ${GLOG_LIBRARY})
+endif()
+
 set_target_properties(pygeometry PROPERTIES
     LIBRARY_OUTPUT_DIRECTORY "${opensfm_SOURCE_DIR}/.."
 )

opensfm/src/map/test/tracks_manager_test.cc

@@ -164,19 +164,18 @@ TEST_F(TracksManagerTest, HasIOFileConsistency) {
               ::testing::WhenSorted(::testing::ElementsAre("1", "2", "3")));
   EXPECT_THAT(manager_new.GetTrackIds(),
               ::testing::WhenSorted(::testing::ElementsAre("1")));
-  EXPECT_EQ(track, manager_new.GetTrackObservations("1"));
-}
 
-TEST_F(TracksManagerTest, HasIOStringConsistency) {
-  const auto serialized = manager.AsString();
-  const map::TracksManager manager_new =
-      map::TracksManager::InstanciateFromString(serialized);
+  std::unordered_map<map::ShotId, map::Observation> track_from_file = manager_new.GetTrackObservations("1");
 
-  EXPECT_THAT(manager_new.GetShotIds(),
-              ::testing::WhenSorted(::testing::ElementsAre("1", "2", "3")));
-  EXPECT_THAT(manager_new.GetTrackIds(),
-              ::testing::WhenSorted(::testing::ElementsAre("1")));
-  EXPECT_EQ(track, manager_new.GetTrackObservations("1"));
+  // Test that point, scale, color, and feature ID are correctly recovered from the file.
+  // Segmentation and instance IDs are not saved in the ODM file format. For this reason,
+  // track_from_file will not exactly match track (it is missing these fields).
+  for(auto const& it : track) {
+    EXPECT_EQ(it.second.point, track_from_file[it.first].point);
+    EXPECT_EQ(it.second.scale, track_from_file[it.first].scale);
+    EXPECT_EQ(it.second.color, track_from_file[it.first].color);
+    EXPECT_EQ(it.second.feature_id, track_from_file[it.first].feature_id);
+  }
 }
 
 }  // namespace

opensfm/test/test_stats.py

@@ -15,7 +15,7 @@ def test_processing_statistics_normal(
 
     processing_statistics = stats.processing_statistics(dataset, [reference])
 
-    assert list(processing_statistics.keys()) == ["steps_times", "date", "area"]
+    assert list(processing_statistics.keys()) == ["steps_times", "date", "start_date", "end_date", "area"]
     assert processing_statistics["steps_times"] == {
         "Feature Extraction": -1,
         "Features Matching": -1,
@@ -40,7 +40,7 @@ def test_processing_statistics_null(
 
     processing_statistics = stats.processing_statistics(dataset, [null_scene])
 
-    assert list(processing_statistics.keys()) == ["steps_times", "date", "area"]
+    assert list(processing_statistics.keys()) == ["steps_times", "date", "start_date", "end_date", "area"]
     assert processing_statistics["steps_times"] == {
         "Feature Extraction": -1,
         "Features Matching": -1,

requirements.txt

@@ -5,7 +5,7 @@ fpdf2==2.4.6
 joblib==0.14.1
 matplotlib
 networkx==2.5
-numpy
+numpy==1.21.6
 Pillow>=8.1.1
 pyproj>=1.9.5.1
 pytest==3.0.7
@@ -19,3 +19,6 @@ beautifulsoup4==4.9.1
 lxml==4.5.1
 wheel
 opencv-python==4.5.1.48 ; sys_platform == "win32"
+rasterio==1.3.11
+rawpy==0.21.0
+vmem==1.0.2