Function makeSyntheticRigData

src/parsers/rig_integrity.test.ts:52–135

3-camera rig, 4 frames — every frame uses all 3 sensors

()

/** 3-camera rig, 4 frames — every frame uses all 3 sensors */
function makeSyntheticRigData(): { reconstruction: Reconstruction; rigData: RigData } {
  const sensor1 = { type: SensorType.CAMERA, id: 1 };
  const sensor2 = { type: SensorType.CAMERA, id: 2 };
  const sensor3 = { type: SensorType.CAMERA, id: 3 };
  const rig: Rig = {
    rigId: 1,
    refSensorId: sensor1,
    sensors: [
      { sensorId: sensor1, hasPose: false },
      { sensorId: sensor2, hasPose: true, pose: { qvec: [0.9238795, 0, 0.3826834, 0], tvec: [0.2, 0, 0] } },
      { sensorId: sensor3, hasPose: true, pose: { qvec: [0.9238795, 0, -0.3826834, 0], tvec: [-0.2, 0, 0] } },
    ],
  };

  const frames = new Map<number, Frame>();
  // Frame 1: images 1, 2, 3
  frames.set(1, {
    frameId: 1,
    rigId: 1,
    rigFromWorld: { qvec: [0.7071068, 0, 0.7071068, 0], tvec: [1, 2, 3] },
    dataIds: [
      { sensorId: sensor1, dataId: 1 },
      { sensorId: sensor2, dataId: 2 },
      { sensorId: sensor3, dataId: 3 },
    ],
  });
  // Frame 2: images 4, 5, 6
  frames.set(2, {
    frameId: 2,
    rigId: 1,
    rigFromWorld: { qvec: [0.8660254, 0, 0.5, 0], tvec: [2, 2, 3] },
    dataIds: [
      { sensorId: sensor1, dataId: 4 },
      { sensorId: sensor2, dataId: 5 },
      { sensorId: sensor3, dataId: 6 },
    ],
  });
  // Frame 3: images 7, 8, 9
  frames.set(3, {
    frameId: 3,
    rigId: 1,
    rigFromWorld: IDENTITY_POSE,
    dataIds: [
      { sensorId: sensor1, dataId: 7 },
      { sensorId: sensor2, dataId: 8 },
      { sensorId: sensor3, dataId: 9 },
    ],
  });
  // Frame 4: images 10, 11, 12
  frames.set(4, {
    frameId: 4,
    rigId: 1,
    rigFromWorld: { qvec: [0.5, 0.5, 0.5, 0.5], tvec: [-1, -2, 1] },
    dataIds: [
      { sensorId: sensor1, dataId: 10 },
      { sensorId: sensor2, dataId: 11 },
      { sensorId: sensor3, dataId: 12 },
    ],