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August 3, 2013 12:54
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epiline.py
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import cv2 | |
import numpy as np | |
from matplotlib import pyplot as plt | |
def drawlines(img1,img2,lines,pts1,pts2): | |
''' img1 - image on which we draw the epilines for the points in img1 | |
lines - corresponding epilines ''' | |
r,c = img1.shape | |
img1 = cv2.cvtColor(img1,cv2.COLOR_GRAY2BGR) | |
img2 = cv2.cvtColor(img2,cv2.COLOR_GRAY2BGR) | |
for r,pt1,pt2 in zip(lines,pts1,pts2): | |
color = tuple(np.random.randint(0,255,3).tolist()) | |
x0,y0 = map(int, [0, -r[2]/r[1] ]) | |
x1,y1 = map(int, [c, -(r[2]+r[0]*c)/r[1] ]) | |
img1 = cv2.line(img1, (x0,y0), (x1,y1), color,1) | |
img1 = cv2.circle(img1,tuple(pt1),5,color,-1) | |
img2 = cv2.circle(img2,tuple(pt2),5,color,-1) | |
return img1,img2 | |
img1 = cv2.imread('myleft.jpg',0) # queryimage # left image | |
img2 = cv2.imread('myright.jpg',0) #trainimage # right image | |
sift = cv2.SIFT() | |
# find the keypoints and descriptors with SIFT | |
kp1, des1 = sift.detectAndCompute(img1,None) | |
kp2, des2 = sift.detectAndCompute(img2,None) | |
# FLANN parameters | |
FLANN_INDEX_KDTREE = 0 | |
index_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5) | |
search_params = dict(checks=50) # or pass empty dictionary | |
flann = cv2.FlannBasedMatcher(index_params,search_params) | |
matches = flann.knnMatch(des1,des2,k=2) | |
good = [] | |
pts1 = [] | |
pts2 = [] | |
# ratio test as per Lowe's paper | |
for i,(m,n) in enumerate(matches): | |
if m.distance < 0.7*n.distance: | |
good.append(m) | |
pts2.append(kp2[m.trainIdx].pt) | |
pts1.append(kp1[m.queryIdx].pt) | |
pts2 = np.int32(pts2) | |
pts1 = np.int32(pts1) | |
F, mask = cv2.findFundamentalMat(pts1,pts2,cv2.FM_LMEDS) | |
# We select only first 15 points | |
pts1 = pts1[mask.ravel()==1] | |
pts2 = pts2[mask.ravel()==1] | |
# drawing lines on left image | |
lines1 = cv2.computeCorrespondEpilines(pts2.reshape(-1,1,2), 2,F) | |
lines1 = lines1.reshape(-1,3) | |
img5,img6 = drawlines(img1,img2,lines1,pts1,pts2) | |
# drawing lines on right image | |
lines2 = cv2.computeCorrespondEpilines(pts1.reshape(-1,1,2), 1,F) | |
lines2 = lines2.reshape(-1,3) | |
img3,img4 = drawlines(img2,img1,lines2,pts2,pts1) | |
plt.subplot(121),plt.imshow(img5) | |
plt.subplot(122),plt.imshow(img3) | |
plt.show() |
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