camera_utils.py 文件源码

def plot_epipolar_line(im_1, F_10, x_0, im_0=None): 
    """
    Plot the epipole and epipolar line F * x = 0.

    l[0] * x + l[1] * y + l[2] = 0
    @ x=0: y = -l[2] / l[1]
    @ x=W: y = (-l[2] -l[0]*W) / l[1]
    """

    H,W = im_1.shape[:2]
    lines_1 = epipolar_line(F_10, x_0)

    vis_1 = to_color(im_1)
    vis_0 = to_color(im_0) if im_0 is not None else None

    N = 20
    cols = get_color_by_label(np.arange(len(x_0)) % N) * 255
    # for tid, pt in zip(ids, pts): 
    #     cv2.circle(vis, tuple(map(int, pt)), 2, 
    #                tuple(map(int, cols[tid % N])) if colored else (0,240,0),
    #                -1, lineType=cv2.CV_AA)

    # col = (0,255,0)
    for col, l1 in zip(cols, lines_1):
        try: 
            x0, y0 = map(int, [0, -l1[2] / l1[1] ])
            x1, y1 = map(int, [W, -(l1[2] + l1[0] * W) / l1[1] ])
            cv2.line(vis_1, (x0,y0), (x1,y1), col, 1)
        except: 
            pass
            # raise RuntimeWarning('Failed to estimate epipolar line {:s}'.format(l1))

    if vis_0 is not None: 
        for col, x in zip(cols, x_0): 
            cv2.circle(vis_0, tuple(x), 3, col, -1)
        return np.vstack([vis_0, vis_1])

    return vis_1