dm_tracker.py 文件源码

def frame_homography(totalPts, homTh):
    """
    Filter foreground points i.e. the outlier points found by fitting
    homography using RANSAC
    Input:
        totalPts: (numAllPoints, 4): x0, y0, x1, y1
        fgPts: (numAllPoints, 4): x0, y0, x1, y1
    """
    if totalPts.ndim != 2 or totalPts.shape[0] < 8 or homTh < 0:
        return totalPts

    import cv2
    p1 = totalPts[:, :2].astype('float')
    p2 = totalPts[:, 2:4].astype('float')
    _, status = cv2.findHomography(
        p1, p2, cv2.RANSAC, ransacReprojThreshold=homTh)
    fgPts = totalPts[status[:, 0] == 0, :]
    return fgPts