From 98939bf06a7a777415c97db380fd110cc36043b7 Mon Sep 17 00:00:00 2001
From: generatedunixname89002005287564
 <generatedunixname89002005287564@meta.com>
Date: Tue, 14 Nov 2023 06:36:42 -0800
Subject: [PATCH] mapillary

Reviewed By: zsol

Differential Revision: D51300169

fbshipit-source-id: 30cf2084197dbe6f30d499e06e0f09674d761bad
---
 annotation_gui_gcp/run_ba.py | 38 +++++++++++++++++++++++++++---------
 bin/opensfm_main.py          | 12 +++++++++---
 bin/plot_matches.py          | 21 +++++++++++++-------
 3 files changed, 52 insertions(+), 19 deletions(-)

diff --git a/annotation_gui_gcp/run_ba.py b/annotation_gui_gcp/run_ba.py
index 5e4ad9f09..4e571f8aa 100644
--- a/annotation_gui_gcp/run_ba.py
+++ b/annotation_gui_gcp/run_ba.py
@@ -8,10 +8,16 @@
 
 import numpy as np
 import opensfm.reconstruction as orec
-from opensfm import dataset, log, multiview, pygeometry, pymap
-from opensfm import reconstruction_helpers as helpers
-from opensfm import transformations as tf
-from opensfm import types
+from opensfm import (
+    dataset,
+    log,
+    multiview,
+    pygeometry,
+    pymap,
+    reconstruction_helpers as helpers,
+    transformations as tf,
+    types,
+)
 from opensfm.align import apply_similarity
 
 logger = logging.getLogger(__name__)
@@ -81,7 +87,9 @@ def resplit_reconstruction(merged, original_reconstructions):
     return split
 
 
-def gcp_geopositional_error(gcps: List[pymap.GroundControlPoint], reconstruction: types.Reconstruction):
+def gcp_geopositional_error(
+    gcps: List[pymap.GroundControlPoint], reconstruction: types.Reconstruction
+):
     coords_reconstruction = triangulate_gcps(gcps, reconstruction)
     out = {}
     for ix, gcp in enumerate(gcps):
@@ -114,7 +122,9 @@ def gcp_geopositional_error(gcps: List[pymap.GroundControlPoint], reconstruction
     return out
 
 
-def triangulate_gcps(gcps: List[pymap.GroundControlPoint], reconstruction: types.Reconstruction):
+def triangulate_gcps(
+    gcps: List[pymap.GroundControlPoint], reconstruction: types.Reconstruction
+):
     coords = []
     for gcp in gcps:
         res = multiview.triangulate_gcp(
@@ -127,7 +137,11 @@ def triangulate_gcps(gcps: List[pymap.GroundControlPoint], reconstruction: types
     return coords
 
 
-def reproject_gcps(gcps: List[pymap.GroundControlPoint], reconstruction: types.Reconstruction, reproj_threshold):
+def reproject_gcps(
+    gcps: List[pymap.GroundControlPoint],
+    reconstruction: types.Reconstruction,
+    reproj_threshold,
+):
     output = {}
     for gcp in gcps:
         point = multiview.triangulate_gcp(
@@ -269,7 +283,9 @@ def bundle_with_fixed_images(
 
     for point in reconstruction.points.values():
         ba.add_point(point.id, point.coordinates, False)
-        ba.add_point_prior(point.id, point.coordinates, np.array([100.0, 100.0, 100.0]), False)
+        ba.add_point_prior(
+            point.id, point.coordinates, np.array([100.0, 100.0, 100.0]), False
+        )
 
     for shot_id in reconstruction.shots:
         shot = reconstruction.get_shot(shot_id)
@@ -866,7 +882,7 @@ def align(
             logger.info("No annotations with large reprojection errors")
 
 
-if __name__ == "__main__":
+def main() -> None:
     log.setup()
     args = parse_args()
     sys.exit(
@@ -880,3 +896,7 @@ def align(
             args.std_threshold,
         )
     )
+
+
+if __name__ == "__main__":
+    main()  # pragma: no cover
diff --git a/bin/opensfm_main.py b/bin/opensfm_main.py
index 31249e129..2041e163d 100755
--- a/bin/opensfm_main.py
+++ b/bin/opensfm_main.py
@@ -1,5 +1,5 @@
 import sys
-from os.path import abspath, join, dirname
+from os.path import abspath, dirname, join
 
 sys.path.insert(0, abspath(join(dirname(__file__), "..")))
 
@@ -21,7 +21,13 @@ def create_default_dataset_context(
         dataset.clean_up()
 
 
-if __name__ == "__main__":
+def main() -> None:
     commands.command_runner(
-        commands.opensfm_commands, create_default_dataset_context, dataset_choices=["opensfm"]
+        commands.opensfm_commands,
+        create_default_dataset_context,
+        dataset_choices=["opensfm"],
     )
+
+
+if __name__ == "__main__":
+    main()  # pragma: no cover
diff --git a/bin/plot_matches.py b/bin/plot_matches.py
index 94f9d7fbf..2fe59174b 100755
--- a/bin/plot_matches.py
+++ b/bin/plot_matches.py
@@ -3,15 +3,13 @@
 import argparse
 import os.path
 from itertools import combinations
+from typing import List
 
 import matplotlib.cm as cm
 import matplotlib.pyplot as pl
 import numpy as np
-from opensfm import dataset
-from opensfm import features
-from opensfm import io
 from numpy import ndarray
-from typing import List
+from opensfm import dataset, features, io
 
 
 def plot_matches(im1, im2, p1: ndarray, p2: ndarray) -> None:
@@ -113,7 +111,8 @@ def plot_matches_for_images(data, image, images) -> None:
         pl.show()
 
 
-if __name__ == "__main__":
+def main() -> None:
+    global args, images
     parser = argparse.ArgumentParser(description="Plot matches between images")
     parser.add_argument("dataset", help="path to the dataset to be processed")
     parser.add_argument("--image", help="show tracks for a specific")
@@ -124,12 +123,20 @@ def plot_matches_for_images(data, image, images) -> None:
     parser.add_argument(
         "--save_figs", help="save figures instead of showing them", action="store_true"
     )
-    args: argparse.Namespace = parser.parse_args()
+    args = parser.parse_args()
 
     data = dataset.DataSet(args.dataset)
-    images: List[str] = data.images()
+    images = data.images()
 
     if args.graph:
         plot_graph(data)
     else:
         plot_matches_for_images(data, args.image, args.images)
+
+
+args: argparse.Namespace
+images: List[str]
+
+
+if __name__ == "__main__":
+    main()  # pragma: no cover