rectify.py 文件源码

def _vlines(lines, ctrs=None, lengths=None, vecs=None, angle_lo=20, angle_hi=160, ransac_options=RANSAC_OPTIONS):
    ctrs = ctrs if ctrs is not None else lines.mean(1)
    vecs = vecs if vecs is not None else lines[:, 1, :] - lines[:, 0, :]
    lengths = lengths if lengths is not None else np.hypot(vecs[:, 0], vecs[:, 1])

    angles = np.degrees(np.arccos(vecs[:, 0] / lengths))
    points = np.column_stack([ctrs[:, 0], angles])
    point_indices, = np.nonzero((angles > angle_lo) & (angles < angle_hi))
    points = points[point_indices]
    if len(points) > 2:
        model_ransac = linear_model.RANSACRegressor(**ransac_options)
        model_ransac.fit(points[:, 0].reshape(-1, 1), points[:, 1].reshape(-1, 1))
        inlier_mask = model_ransac.inlier_mask_
        valid_lines = lines[point_indices[inlier_mask], :, :]
    else:
        valid_lines = []
    return valid_lines