main.py 文件源码

def get_tm_opp(pts1, pts2):
    # Transformation matrix - ( Translation + Scaling + Rotation )
    # using Procuster analysis
    pts1 = np.float64(pts1)
    pts2 = np.float64(pts2)

    m1 = np.mean(pts1, axis = 0)
    m2 = np.mean(pts2, axis = 0)

    # Removing translation
    pts1 -= m1
    pts2 -= m2

    std1 = np.std(pts1)
    std2 = np.std(pts2)
    std_r = std2/std1

    # Removing scaling
    pts1 /= std1
    pts2 /= std2

    U, S, V = np.linalg.svd(np.transpose(pts1) * pts2)

    # Finding the rotation matrix
    R = np.transpose(U * V)

    return np.vstack([np.hstack((std_r * R,
        np.transpose(m2) - std_r * R * np.transpose(m1))), np.matrix([0.0, 0.0, 1.0])])