recipe-578248.py 文件源码

def getProjectionMat(self, from_E=True):
        ei,eii = self.getEpipoles()
        ei = cv2.normalize(ei).flatten()
        eii  = cv2.normalize(eii).flatten()
        if from_E == True:
            F21,F31 = self.getFundamentalMat()
            H21 = H_from_E(F21)
            H31 = H_from_E(F31)
            v1 = r_[0.5,0.5,50,1.]
            v2 = r_[1.,1.,51,1.]
            for H in H21:
                ln2 = cross(dot(H,v1)[:3],dot(H,v2)[:3])
                pt3 = self.pl_(v1[:3]/v1[3], ln2)
                pt3 /= pt3[2]
                print pt3
                for H2 in H31:
                    print dot(H2,v1)[:3]/dot(H2,v1)[:3][2]


            return H21,H31
        else:
            Pi = eye(4)
            Pi[:3,:3] = array([dot(t,eii) for t in self.T]).T
            Pi[:3,3] = ei
#            K = cv2.decomposeProjectionMatrix(Pi[:3])[0]
#            Pi[:3] = dot(cv2.invert(K)[1],Pi[:3])
            return Pi