recipe-578248.py 文件源码

def tensor_pts(self, x0, x1, x2):
        '''Calculates tensor from point correspondences.'''
        N = len(x0[0])
        M = zeros((N*4,27))
        for i in range(N):
            for j in range(3):
                block = zeros((4,9))
                block[[0,1,0,1,2,3,2,3,0,2,1,3,0,1,2,3],
                      [0,1,2,2,3,4,5,5,6,6,7,7,8,8,8,8]] = x0[j,i]
                block[:2,6:] *= -x1[0,i]
                block[2:,6:] *= -x1[1,i]
                block[:2,2] *= -x2[:2,i]
                block[2:,5] *= -x2[:2,i]
                block[:2,8] *= -x2[:2,i]
                block[2:,8] *= -x2[:2,i]
                M[i*4:i*4+4, j*9:j*9+9] = block.copy()

        V = cv2.SVDecomp(M)[2]
        self.T = V[-1,:27].reshape((3,3,3))
        return self.T, 1.0