Task 1.16 Initializing Wrapper.py

scripts/Wrapper.py

@@ -0,0 +1,67 @@
+# -*- coding: utf-8 -*-
+
+"""
+MIT License
+
+Copyright (c) 2018 Aditya Vaishampayan, Amrish Bhaskaran
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+"""
+
+# @file    Wrapper.py
+# @Author  Aditya Vaishampayan (adityavaishampayan)
+# @Author  Amrish Baskaran (amrish1222)
+# @copyright  MIT
+# @brief  Full pipeline of structure from motion
+
+
+import sys
+
+try:
+    sys.path.remove('/opt/ros/kinetic/lib/python2.7/dist-packages')
+except:
+    pass
+
+import cv2
+import numpy as np
+import matplotlib.pyplot as plt
+import random
+import math
+import glob
+
+from scripts.Frame import set_key_pts, set_descriptors, set_pose, set_3d_pts, get_detections, get_pose, get_3d_pts
+
+from scripts.EstimateFundamentalMatrix import *
+from scripts.GetInliersRANSAC import *
+from scripts.EssentialMatrixFromFundamentalMatrix import *
+from scripts.ExtractCameraPose import *
+from scripts.DisambiguateCameraPose import *
+from scripts.NonlinearTriangulation import *
+from scripts.LinearPnP import *
+from scripts.NonlinearPnP import *
+from scripts.BuildVisibilityMatrix import *
+from scripts.BundleAdjustment import *
+
+K = np.array([[568.996140852, 0, 643.21055941],
+              [0, 568.988362396, 477.982801038],
+              [0, 0, 1]])
+
+W = np.array([[0, -1, 0],
+              [1,  0, 0],
+              [0,  0, 1]])