Revert changes and move to GlobalAlignment as datastructure

scantools/capture/__init__.py

@@ -10,4 +10,3 @@
 from .pose import Pose
 from .proc import Proc
 from .misc import KeyType
-from .namedposes import NamedPoses

scantools/capture/session.py

@@ -7,7 +7,7 @@
 from .sensors import Sensors, Camera
 from .rigs import Rigs
 from .trajectories import Trajectories
-from .records import RecordsBluetooth, RecordsCamera, RecordsDepth, RecordsLidar, RecordsWifi, NamedPoses
+from .records import RecordsBluetooth, RecordsCamera, RecordsDepth, RecordsLidar, RecordsWifi
 from .proc import Proc
 from .pose import Pose
 
@@ -42,7 +42,6 @@ class Session:
     bt: Optional[RecordsBluetooth] = None
     proc: Optional[Proc] = None
     id: Optional[str] = None
-    namedposes: Optional[NamedPoses] = None
 
     data_dirname = 'raw_data'
     proc_dirname = 'proc'

scantools/run_navvis_to_capture.py

@@ -13,7 +13,8 @@
 from .capture import (
         Capture, Session, Sensors, create_sensor, Trajectories, Rigs, Pose,
         RecordsCamera, RecordsLidar, RecordBluetooth, RecordBluetoothSignal,
-        RecordsBluetooth, RecordWifi, RecordWifiSignal, RecordsWifi, NamedPoses)
+        RecordsBluetooth, RecordWifi, RecordWifiSignal, RecordsWifi)
+from .proc import ( GlobalAlignment )
 from .utils.misc import add_bool_arg
 from .utils.io import read_image, write_image
 
@@ -102,10 +103,9 @@ def run(input_path: Path, capture: Capture, tiles_format: str, session_id: Optio
     if nv.load_origin():
         origin_qvec, origin_tvec, origin_crs = nv.get_origin()
         origin_pose = Pose(r=origin_qvec, t=origin_tvec)
-        origin_poses = NamedPoses()
-        origin_poses['origin'] = origin_pose    
-
-
+        global_alignment = GlobalAlignment()
+        global_alignment.origin = origin_pose
+
 
     if export_as_rig:
         # This code assumes NavVis produces consistent rigs across all frames,
@@ -242,7 +242,7 @@ def run(input_path: Path, capture: Capture, tiles_format: str, session_id: Optio
 
     session = Session(
         sensors=sensors, rigs=rigs, trajectories=trajectory,
-        images=images, pointclouds=pointclouds, wifi=wifi_signals, bt=bluetooth_signals, namedposes=origin_poses)
+        images=images, pointclouds=pointclouds, wifi=wifi_signals, bt=bluetooth_signals)
     capture.sessions[session_id] = session
     capture.save(capture.path, session_ids=[session_id])
 

scantools/tests/test_navvis.py

@@ -404,3 +404,30 @@ def test_get_image_filename(m6_object, m6_testdata):
 
     res_image_filename = m6_object.get_image_filename(test_frame.id, test_frame.pose.camera_id)
     assert res_image_filename == exp_image_filename
+
+
+## CLEANUP
+
+import pytest
+import os
+from scipy.spatial.transform import Rotation
+
+from ..capture import Pose
+from ..proc import GlobalAlignment
+
+def Rz(theta):
+    return Rotation.from_euler('z', theta, degrees=True)
+
+@pytest.mark.parametrize(
+    "rot,tvec",
+    [
+        (['1', '0', '0', '0'], ['0', '1', '1']),
+        (Rz(30), ['1', '1', '0'])
+    ])
+def test_pose_valid(rot, tvec, tmp_path):
+    temp_file_path = tmp_path / 'named_poses.csv'
+    pose = Pose(rot, tvec)
+    global_alignment = GlobalAlignment()
+    #global_alignment.save(temp_file_path, [pose])    
+    #os.remove(temp_file_path)
+

scantools/tests/test_capture_namedposes.py → scantools/tests/test_navvis_origin_to_global_alignment.py

@@ -4,7 +4,7 @@
 from scipy.spatial.transform import Rotation
 
 from ..capture import Pose
-from ..capture import NamedPoses
+from ..proc import GlobalAlignment
 
 def Rz(theta):
     return Rotation.from_euler('z', theta, degrees=True)
@@ -19,16 +19,9 @@ def Rz(theta):
 def test_pose_valid(rot, tvec, tmp_path):
     temp_file_path = tmp_path / 'named_poses.csv'
     pose = Pose(rot, tvec)
-    poses = NamedPoses()
-    poses['pose1'] = pose
-    poses['pose2'] = pose
-    poses.save(temp_file_path)
-    loaded_poses = NamedPoses()
-    loaded_poses.load(temp_file_path)
-    assert len(poses) == len(loaded_poses)
-    assert poses.keys() == loaded_poses.keys()
-    for k in poses.keys():
-        assert poses[k].to_list() == loaded_poses[k].to_list()
+    global_alignment = GlobalAlignment()
+
+
     os.remove(temp_file_path)