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import numpy as np |
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import h5py |
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import cv2 |
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def normalize_intrinsic(x,K): |
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return (x-K[:2,2])/np.diag(K)[:2] |
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def normalize_size(x,size,scale=1): |
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size=size.reshape([1,2]) |
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norm_fac=size.max() |
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return (x-size/2+0.5)/(norm_fac*scale) |
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def np_skew_symmetric(v): |
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zero = np.zeros_like(v[:, 0]) |
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M = np.stack([ |
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zero, -v[:, 2], v[:, 1], |
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v[:, 2], zero, -v[:, 0], |
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-v[:, 1], v[:, 0], zero, |
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], axis=1) |
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return M |
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def draw_points(img,points,color=(0,255,0),radius=3): |
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dp = [(int(points[i, 0]), int(points[i, 1])) for i in range(points.shape[0])] |
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for i in range(points.shape[0]): |
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cv2.circle(img, dp[i],radius=radius,color=color) |
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return img |
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def draw_match(img1, img2, corr1, corr2,inlier=[True],color=None,radius1=1,radius2=1,resize=None): |
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if resize is not None: |
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scale1,scale2=[img1.shape[1]/resize[0],img1.shape[0]/resize[1]],[img2.shape[1]/resize[0],img2.shape[0]/resize[1]] |
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img1,img2=cv2.resize(img1, resize, interpolation=cv2.INTER_AREA),cv2.resize(img2, resize, interpolation=cv2.INTER_AREA) |
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corr1,corr2=corr1/np.asarray(scale1)[np.newaxis],corr2/np.asarray(scale2)[np.newaxis] |
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corr1_key = [cv2.KeyPoint(corr1[i, 0], corr1[i, 1], radius1) for i in range(corr1.shape[0])] |
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corr2_key = [cv2.KeyPoint(corr2[i, 0], corr2[i, 1], radius2) for i in range(corr2.shape[0])] |
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assert len(corr1) == len(corr2) |
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draw_matches = [cv2.DMatch(i, i, 0) for i in range(len(corr1))] |
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if color is None: |
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color = [(0, 255, 0) if cur_inlier else (0,0,255) for cur_inlier in inlier] |
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if len(color)==1: |
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display = cv2.drawMatches(img1, corr1_key, img2, corr2_key, draw_matches, None, |
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matchColor=color[0], |
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singlePointColor=color[0], |
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flags=4 |
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) |
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else: |
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height,width=max(img1.shape[0],img2.shape[0]),img1.shape[1]+img2.shape[1] |
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display=np.zeros([height,width,3],np.uint8) |
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display[:img1.shape[0],:img1.shape[1]]=img1 |
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display[:img2.shape[0],img1.shape[1]:]=img2 |
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for i in range(len(corr1)): |
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left_x,left_y,right_x,right_y=int(corr1[i][0]),int(corr1[i][1]),int(corr2[i][0]+img1.shape[1]),int(corr2[i][1]) |
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cur_color=(int(color[i][0]),int(color[i][1]),int(color[i][2])) |
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cv2.line(display, (left_x,left_y), (right_x,right_y),cur_color,1,lineType=cv2.LINE_AA) |
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return display |
