From 20131189717b75870908543ddea14fe2aaa3db06 Mon Sep 17 00:00:00 2001
From: Vadim Pisarevsky <vadim.pisarevsky@itseez.com>
Date: Mon, 6 Aug 2012 16:35:35 +0400
Subject: [PATCH] new/improved Python samples by Alexander Mordvintsev

---
 samples/python2/common.py             | 412 +++++++++++++-------------
 samples/python2/feature_homography.py | 256 ++++++----------
 samples/python2/plane_ar.py           | 103 +++++++
 samples/python2/plane_tracker.py      | 171 +++++++++++
 4 files changed, 574 insertions(+), 368 deletions(-)
 create mode 100755 samples/python2/plane_ar.py
 create mode 100755 samples/python2/plane_tracker.py

diff --git a/samples/python2/common.py b/samples/python2/common.py
index 0f332b6d0f..89f8b77df2 100644
--- a/samples/python2/common.py
+++ b/samples/python2/common.py
@@ -1,200 +1,212 @@
-import numpy as np
-import cv2
-import os
-from contextlib import contextmanager
-import itertools as it
-
-image_extensions = ['.bmp', '.jpg', '.jpeg', '.png', '.tif', '.tiff', '.pbm', '.pgm', '.ppm']
-
-def splitfn(fn):
-    path, fn = os.path.split(fn)
-    name, ext = os.path.splitext(fn)
-    return path, name, ext
-
-def anorm2(a):
-    return (a*a).sum(-1)
-def anorm(a):
-    return np.sqrt( anorm2(a) )
-
-def homotrans(H, x, y):
-    xs = H[0, 0]*x + H[0, 1]*y + H[0, 2]
-    ys = H[1, 0]*x + H[1, 1]*y + H[1, 2]
-    s  = H[2, 0]*x + H[2, 1]*y + H[2, 2]
-    return xs/s, ys/s
-
-def to_rect(a):
-    a = np.ravel(a)
-    if len(a) == 2:
-        a = (0, 0, a[0], a[1])
-    return np.array(a, np.float64).reshape(2, 2)
-
-def rect2rect_mtx(src, dst):
-    src, dst = to_rect(src), to_rect(dst)
-    cx, cy = (dst[1] - dst[0]) / (src[1] - src[0])
-    tx, ty = dst[0] - src[0] * (cx, cy)
-    M = np.float64([[ cx,  0, tx],
-                    [  0, cy, ty],
-                    [  0,  0,  1]])
-    return M
-
-
-def lookat(eye, target, up = (0, 0, 1)):
-    fwd = np.asarray(target, np.float64) - eye
-    fwd /= anorm(fwd)
-    right = np.cross(fwd, up)
-    right /= anorm(right)
-    down = np.cross(fwd, right)
-    R = np.float64([right, down, fwd])
-    tvec = -np.dot(R, eye)
-    return R, tvec
-
-def mtx2rvec(R):
-    w, u, vt = cv2.SVDecomp(R - np.eye(3))
-    p = vt[0] + u[:,0]*w[0]    # same as np.dot(R, vt[0])
-    c = np.dot(vt[0], p)
-    s = np.dot(vt[1], p)
-    axis = np.cross(vt[0], vt[1])
-    return axis * np.arctan2(s, c)
-
-def draw_str(dst, (x, y), s):
-    cv2.putText(dst, s, (x+1, y+1), cv2.FONT_HERSHEY_PLAIN, 1.0, (0, 0, 0), thickness = 2, lineType=cv2.CV_AA)
-    cv2.putText(dst, s, (x, y), cv2.FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255), lineType=cv2.CV_AA)
-
-class Sketcher:
-    def __init__(self, windowname, dests, colors_func):
-        self.prev_pt = None
-        self.windowname = windowname
-        self.dests = dests
-        self.colors_func = colors_func
-        self.dirty = False
-        self.show()
-        cv2.setMouseCallback(self.windowname, self.on_mouse)
-
-    def show(self):
-        cv2.imshow(self.windowname, self.dests[0])
-
-    def on_mouse(self, event, x, y, flags, param):
-        pt = (x, y)
-        if event == cv2.EVENT_LBUTTONDOWN:
-            self.prev_pt = pt
-        if self.prev_pt and flags & cv2.EVENT_FLAG_LBUTTON:
-            for dst, color in zip(self.dests, self.colors_func()):
-                cv2.line(dst, self.prev_pt, pt, color, 5)
-            self.dirty = True
-            self.prev_pt = pt
-            self.show()
-        else:
-            self.prev_pt = None
-
-
-# palette data from matplotlib/_cm.py
-_jet_data =   {'red':   ((0., 0, 0), (0.35, 0, 0), (0.66, 1, 1), (0.89,1, 1),
-                         (1, 0.5, 0.5)),
-               'green': ((0., 0, 0), (0.125,0, 0), (0.375,1, 1), (0.64,1, 1),
-                         (0.91,0,0), (1, 0, 0)),
-               'blue':  ((0., 0.5, 0.5), (0.11, 1, 1), (0.34, 1, 1), (0.65,0, 0),
-                         (1, 0, 0))}
-
-cmap_data = { 'jet' : _jet_data }
-
-def make_cmap(name, n=256):
-    data = cmap_data[name]
-    xs = np.linspace(0.0, 1.0, n)
-    channels = []
-    eps = 1e-6
-    for ch_name in ['blue', 'green', 'red']:
-        ch_data = data[ch_name]
-        xp, yp = [], []
-        for x, y1, y2 in ch_data:
-            xp += [x, x+eps]
-            yp += [y1, y2]
-        ch = np.interp(xs, xp, yp)
-        channels.append(ch)
-    return np.uint8(np.array(channels).T*255)
-
-def nothing(*arg, **kw):
-    pass
-
-def clock():
-    return cv2.getTickCount() / cv2.getTickFrequency()
-
-@contextmanager
-def Timer(msg):
-    print msg, '...',
-    start = clock()
-    try:
-        yield
-    finally:
-        print "%.2f ms" % ((clock()-start)*1000)
-
-class StatValue:
-    def __init__(self, smooth_coef = 0.5):
-        self.value = None
-        self.smooth_coef = smooth_coef
-    def update(self, v):
-        if self.value is None:
-            self.value = v
-        else:
-            c = self.smooth_coef
-            self.value = c * self.value + (1.0-c) * v
-
-class RectSelector:
-    def __init__(self, win, callback):
-        self.win = win
-        self.callback = callback
-        cv2.setMouseCallback(win, self.onmouse)
-        self.drag_start = None
-        self.drag_rect = None
-    def onmouse(self, event, x, y, flags, param):
-        x, y = np.int16([x, y]) # BUG
-        if event == cv2.EVENT_LBUTTONDOWN:
-            self.drag_start = (x, y)
-        if self.drag_start: 
-            if flags & cv2.EVENT_FLAG_LBUTTON:
-                xo, yo = self.drag_start
-                x0, y0 = np.minimum([xo, yo], [x, y])
-                x1, y1 = np.maximum([xo, yo], [x, y])
-                self.drag_rect = None
-                if x1-x0 > 0 and y1-y0 > 0:
-                    self.drag_rect = (x0, y0, x1, y1)
-            else:
-                rect = self.drag_rect
-                self.drag_start = None
-                self.drag_rect = None
-                if rect:
-                    self.callback(rect)
-    def draw(self, vis):
-        if not self.drag_rect:
-            return False
-        x0, y0, x1, y1 = self.drag_rect
-        cv2.rectangle(vis, (x0, y0), (x1, y1), (0, 255, 0), 2)
-        return True
-    @property
-    def dragging(self):
-        return self.drag_rect is not None
-
-
-def grouper(n, iterable, fillvalue=None):
-    '''grouper(3, 'ABCDEFG', 'x') --> ABC DEF Gxx'''
-    args = [iter(iterable)] * n
-    return it.izip_longest(fillvalue=fillvalue, *args)
-
-def mosaic(w, imgs):
-    '''Make a grid from images. 
-
-    w    -- number of grid columns
-    imgs -- images (must have same size and format)
-    '''
-    imgs = iter(imgs)
-    img0 = imgs.next()
-    pad = np.zeros_like(img0)
-    imgs = it.chain([img0], imgs)
-    rows = grouper(w, imgs, pad)
-    return np.vstack(map(np.hstack, rows))
-
-def getsize(img):
-    h, w = img.shape[:2]
-    return w, h
-
-def mdot(*args):
-    return reduce(np.dot, args)
+import numpy as np
+import cv2
+import os
+from contextlib import contextmanager
+import itertools as it
+
+image_extensions = ['.bmp', '.jpg', '.jpeg', '.png', '.tif', '.tiff', '.pbm', '.pgm', '.ppm']
+
+class Bunch(object):
+    def __init__(self, **kw):
+        self.__dict__.update(kw)
+    def __str__(self):
+        return str(self.__dict__)
+
+def splitfn(fn):
+    path, fn = os.path.split(fn)
+    name, ext = os.path.splitext(fn)
+    return path, name, ext
+
+def anorm2(a):
+    return (a*a).sum(-1)
+def anorm(a):
+    return np.sqrt( anorm2(a) )
+
+def homotrans(H, x, y):
+    xs = H[0, 0]*x + H[0, 1]*y + H[0, 2]
+    ys = H[1, 0]*x + H[1, 1]*y + H[1, 2]
+    s  = H[2, 0]*x + H[2, 1]*y + H[2, 2]
+    return xs/s, ys/s
+
+def to_rect(a):
+    a = np.ravel(a)
+    if len(a) == 2:
+        a = (0, 0, a[0], a[1])
+    return np.array(a, np.float64).reshape(2, 2)
+
+def rect2rect_mtx(src, dst):
+    src, dst = to_rect(src), to_rect(dst)
+    cx, cy = (dst[1] - dst[0]) / (src[1] - src[0])
+    tx, ty = dst[0] - src[0] * (cx, cy)
+    M = np.float64([[ cx,  0, tx],
+                    [  0, cy, ty],
+                    [  0,  0,  1]])
+    return M
+
+
+def lookat(eye, target, up = (0, 0, 1)):
+    fwd = np.asarray(target, np.float64) - eye
+    fwd /= anorm(fwd)
+    right = np.cross(fwd, up)
+    right /= anorm(right)
+    down = np.cross(fwd, right)
+    R = np.float64([right, down, fwd])
+    tvec = -np.dot(R, eye)
+    return R, tvec
+
+def mtx2rvec(R):
+    w, u, vt = cv2.SVDecomp(R - np.eye(3))
+    p = vt[0] + u[:,0]*w[0]    # same as np.dot(R, vt[0])
+    c = np.dot(vt[0], p)
+    s = np.dot(vt[1], p)
+    axis = np.cross(vt[0], vt[1])
+    return axis * np.arctan2(s, c)
+
+def draw_str(dst, (x, y), s):
+    cv2.putText(dst, s, (x+1, y+1), cv2.FONT_HERSHEY_PLAIN, 1.0, (0, 0, 0), thickness = 2, lineType=cv2.CV_AA)
+    cv2.putText(dst, s, (x, y), cv2.FONT_HERSHEY_PLAIN, 1.0, (255, 255, 255), lineType=cv2.CV_AA)
+
+class Sketcher:
+    def __init__(self, windowname, dests, colors_func):
+        self.prev_pt = None
+        self.windowname = windowname
+        self.dests = dests
+        self.colors_func = colors_func
+        self.dirty = False
+        self.show()
+        cv2.setMouseCallback(self.windowname, self.on_mouse)
+
+    def show(self):
+        cv2.imshow(self.windowname, self.dests[0])
+
+    def on_mouse(self, event, x, y, flags, param):
+        pt = (x, y)
+        if event == cv2.EVENT_LBUTTONDOWN:
+            self.prev_pt = pt
+        if self.prev_pt and flags & cv2.EVENT_FLAG_LBUTTON:
+            for dst, color in zip(self.dests, self.colors_func()):
+                cv2.line(dst, self.prev_pt, pt, color, 5)
+            self.dirty = True
+            self.prev_pt = pt
+            self.show()
+        else:
+            self.prev_pt = None
+
+
+# palette data from matplotlib/_cm.py
+_jet_data =   {'red':   ((0., 0, 0), (0.35, 0, 0), (0.66, 1, 1), (0.89,1, 1),
+                         (1, 0.5, 0.5)),
+               'green': ((0., 0, 0), (0.125,0, 0), (0.375,1, 1), (0.64,1, 1),
+                         (0.91,0,0), (1, 0, 0)),
+               'blue':  ((0., 0.5, 0.5), (0.11, 1, 1), (0.34, 1, 1), (0.65,0, 0),
+                         (1, 0, 0))}
+
+cmap_data = { 'jet' : _jet_data }
+
+def make_cmap(name, n=256):
+    data = cmap_data[name]
+    xs = np.linspace(0.0, 1.0, n)
+    channels = []
+    eps = 1e-6
+    for ch_name in ['blue', 'green', 'red']:
+        ch_data = data[ch_name]
+        xp, yp = [], []
+        for x, y1, y2 in ch_data:
+            xp += [x, x+eps]
+            yp += [y1, y2]
+        ch = np.interp(xs, xp, yp)
+        channels.append(ch)
+    return np.uint8(np.array(channels).T*255)
+
+def nothing(*arg, **kw):
+    pass
+
+def clock():
+    return cv2.getTickCount() / cv2.getTickFrequency()
+
+@contextmanager
+def Timer(msg):
+    print msg, '...',
+    start = clock()
+    try:
+        yield
+    finally:
+        print "%.2f ms" % ((clock()-start)*1000)
+
+class StatValue:
+    def __init__(self, smooth_coef = 0.5):
+        self.value = None
+        self.smooth_coef = smooth_coef
+    def update(self, v):
+        if self.value is None:
+            self.value = v
+        else:
+            c = self.smooth_coef
+            self.value = c * self.value + (1.0-c) * v
+
+class RectSelector:
+    def __init__(self, win, callback):
+        self.win = win
+        self.callback = callback
+        cv2.setMouseCallback(win, self.onmouse)
+        self.drag_start = None
+        self.drag_rect = None
+    def onmouse(self, event, x, y, flags, param):
+        x, y = np.int16([x, y]) # BUG
+        if event == cv2.EVENT_LBUTTONDOWN:
+            self.drag_start = (x, y)
+        if self.drag_start: 
+            if flags & cv2.EVENT_FLAG_LBUTTON:
+                xo, yo = self.drag_start
+                x0, y0 = np.minimum([xo, yo], [x, y])
+                x1, y1 = np.maximum([xo, yo], [x, y])
+                self.drag_rect = None
+                if x1-x0 > 0 and y1-y0 > 0:
+                    self.drag_rect = (x0, y0, x1, y1)
+            else:
+                rect = self.drag_rect
+                self.drag_start = None
+                self.drag_rect = None
+                if rect:
+                    self.callback(rect)
+    def draw(self, vis):
+        if not self.drag_rect:
+            return False
+        x0, y0, x1, y1 = self.drag_rect
+        cv2.rectangle(vis, (x0, y0), (x1, y1), (0, 255, 0), 2)
+        return True
+    @property
+    def dragging(self):
+        return self.drag_rect is not None
+
+
+def grouper(n, iterable, fillvalue=None):
+    '''grouper(3, 'ABCDEFG', 'x') --> ABC DEF Gxx'''
+    args = [iter(iterable)] * n
+    return it.izip_longest(fillvalue=fillvalue, *args)
+
+def mosaic(w, imgs):
+    '''Make a grid from images. 
+
+    w    -- number of grid columns
+    imgs -- images (must have same size and format)
+    '''
+    imgs = iter(imgs)
+    img0 = imgs.next()
+    pad = np.zeros_like(img0)
+    imgs = it.chain([img0], imgs)
+    rows = grouper(w, imgs, pad)
+    return np.vstack(map(np.hstack, rows))
+
+def getsize(img):
+    h, w = img.shape[:2]
+    return w, h
+
+def mdot(*args):
+    return reduce(np.dot, args)
+
+def draw_keypoints(vis, keypoints, color = (0, 255, 255)):
+    for kp in keypoints:
+            x, y = kp.pt
+            cv2.circle(vis, (int(x), int(y)), 2, color)
+
diff --git a/samples/python2/feature_homography.py b/samples/python2/feature_homography.py
index d553deb977..1eae58aa03 100644
--- a/samples/python2/feature_homography.py
+++ b/samples/python2/feature_homography.py
@@ -1,168 +1,88 @@
-'''
-Feature homography
-==================
-
-Example of using features2d framework for interactive video homography matching.
-ORB features and FLANN matcher are used.
-
-Inspired by http://www.youtube.com/watch?v=-ZNYoL8rzPY
-
-Usage
------
-feature_homography.py [<video source>]
-
-Select a textured planar object to track by drawing a box with a mouse.
-
-'''
-
-import numpy as np
-import cv2
-import video
-import common
-from collections import namedtuple
-from common import getsize
-
-    
-FLANN_INDEX_KDTREE = 1
-FLANN_INDEX_LSH    = 6
-flann_params= dict(algorithm = FLANN_INDEX_LSH,
-                   table_number = 6, # 12
-                   key_size = 12,     # 20
-                   multi_probe_level = 1) #2
-
-MIN_MATCH_COUNT = 10
-
-
-ar_verts = np.float32([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0],
-                       [0, 0, 1], [0, 1, 1], [1, 1, 1], [1, 0, 1], 
-                       [0.5, 0.5, 2]])
-ar_edges = [(0, 1), (1, 2), (2, 3), (3, 0), 
-            (4, 5), (5, 6), (6, 7), (7, 4),
-            (0, 4), (1, 5), (2, 6), (3, 7), 
-            (4, 8), (5, 8), (6, 8), (7, 8)]
-
-
-
-def draw_keypoints(vis, keypoints, color = (0, 255, 255)):
-    for kp in keypoints:
-            x, y = kp.pt
-            cv2.circle(vis, (int(x), int(y)), 2, color)
-
-class App:
-    def __init__(self, src):
-        self.cap = video.create_capture(src)
-        self.frame = None
-        self.paused = False
-        self.ref_frame  = None
-
-        self.detector = cv2.ORB( nfeatures = 1000 )
-        self.matcher = cv2.FlannBasedMatcher(flann_params, {})  # bug : need to pass empty dict (#1329)
-
-        cv2.namedWindow('plane')
-        self.rect_sel = common.RectSelector('plane', self.on_rect)
-
-
-    def match_frames(self):
-        if len(self.frame_desc) < MIN_MATCH_COUNT or len(self.frame_desc) < MIN_MATCH_COUNT:
-            return
-        
-        raw_matches = self.matcher.knnMatch(self.frame_desc, k = 2)
-        p0, p1 = [], []
-        for m in raw_matches:
-            if len(m) == 2 and m[0].distance < m[1].distance * 0.75:
-                m = m[0]
-                p0.append( self.ref_points[m.trainIdx].pt )  # queryIdx
-                p1.append( self.frame_points[m.queryIdx].pt )
-        p0, p1 = np.float32((p0, p1))
-        if len(p0) < MIN_MATCH_COUNT:
-            return
-
-        H, status = cv2.findHomography(p0, p1, cv2.RANSAC, 4.0)
-        status = status.ravel() != 0
-        if status.sum() < MIN_MATCH_COUNT:
-            return
-        p0, p1 = p0[status], p1[status]
-        return p0, p1, H
-
-
-    def on_frame(self, vis):
-        match = self.match_frames()
-        if match is None:
-            return
-        w, h = getsize(self.frame)
-        p0, p1, H = match
-        for (x0, y0), (x1, y1) in zip(np.int32(p0), np.int32(p1)):
-            cv2.line(vis, (x0+w, y0), (x1, y1), (0, 255, 0))
-        x0, y0, x1, y1 = self.ref_rect
-        corners0 = np.float32([[x0, y0], [x1, y0], [x1, y1], [x0, y1]])
-        img_corners = cv2.perspectiveTransform(corners0.reshape(1, -1, 2), H)
-        cv2.polylines(vis, [np.int32(img_corners)], True, (255, 255, 255), 2)
-
-        corners3d = np.hstack([corners0, np.zeros((4, 1), np.float32)])
-        fx = 0.9
-        K = np.float64([[fx*w, 0, 0.5*(w-1)],
-                        [0, fx*w, 0.5*(h-1)],
-                        [0.0,0.0,      1.0]])
-        dist_coef = np.zeros(4)
-        ret, rvec, tvec = cv2.solvePnP(corners3d, img_corners, K, dist_coef)
-        verts = ar_verts * [(x1-x0), (y1-y0), -(x1-x0)*0.3] + (x0, y0, 0)
-        verts = cv2.projectPoints(verts, rvec, tvec, K, dist_coef)[0].reshape(-1, 2)
-        for i, j in ar_edges:
-            (x0, y0), (x1, y1) = verts[i], verts[j]
-            cv2.line(vis, (int(x0), int(y0)), (int(x1), int(y1)), (255, 255, 0), 2)
-
-    def on_rect(self, rect):
-        x0, y0, x1, y1 = rect
-        self.ref_frame = self.frame.copy()
-        self.ref_rect = rect
-        points, descs = [], []
-        for kp, desc in zip(self.frame_points, self.frame_desc):
-            x, y = kp.pt
-            if x0 <= x <= x1 and y0 <= y <= y1:
-                points.append(kp)
-                descs.append(desc)
-        self.ref_points, self.ref_descs = points, np.uint8(descs)
-
-        self.matcher.clear()
-        self.matcher.add([self.ref_descs])
-
-    def run(self):
-        while True:
-            playing = not self.paused and not self.rect_sel.dragging
-            if playing or self.frame is None:
-                ret, frame = self.cap.read()
-                if not ret:
-                    break
-                self.frame = np.fliplr(frame).copy()
-                self.frame_points, self.frame_desc = self.detector.detectAndCompute(self.frame, None)
-                if self.frame_desc is None:  # detectAndCompute returns descs=None if not keypoints found
-                    self.frame_desc = []
-            
-            w, h = getsize(self.frame)
-            vis = np.zeros((h, w*2, 3), np.uint8)
-            vis[:h,:w] = self.frame
-            if self.ref_frame is not None:
-                vis[:h,w:] = self.ref_frame
-                x0, y0, x1, y1 = self.ref_rect
-                cv2.rectangle(vis, (x0+w, y0), (x1+w, y1), (0, 255, 0), 2)
-                draw_keypoints(vis[:,w:], self.ref_points)
-            draw_keypoints(vis, self.frame_points)
-
-            if playing and self.ref_frame is not None:
-                self.on_frame(vis)
-            
-            self.rect_sel.draw(vis)
-            cv2.imshow('plane', vis)
-            ch = cv2.waitKey(1)
-            if ch == ord(' '):
-                self.paused = not self.paused
-            if ch == 27:
-                break
-
-if __name__ == '__main__':
-    print __doc__
-
-    import sys
-    try: video_src = sys.argv[1]
-    except: video_src = 0
-    App(video_src).run()
+'''
+Feature homography
+==================
+
+Example of using features2d framework for interactive video homography matching.
+ORB features and FLANN matcher are used. The actual tracking is implemented by
+PlaneTracker class in plane_tracker.py
+
+Inspired by http://www.youtube.com/watch?v=-ZNYoL8rzPY
+
+video: http://www.youtube.com/watch?v=FirtmYcC0Vc
+
+Usage
+-----
+feature_homography.py [<video source>]
+
+Keys:
+   SPACE  -  pause video
+
+Select a textured planar object to track by drawing a box with a mouse.
+'''
+
+import numpy as np
+import cv2
+import video
+import common
+from common import getsize, draw_keypoints
+from plane_tracker import PlaneTracker
+
+
+class App:
+    def __init__(self, src):
+        self.cap = video.create_capture(src)
+        self.frame = None
+        self.paused = False
+        self.tracker = PlaneTracker()
+
+        cv2.namedWindow('plane')
+        self.rect_sel = common.RectSelector('plane', self.on_rect)
+    
+    def on_rect(self, rect):
+        self.tracker.clear()
+        self.tracker.add_target(self.frame, rect)
+
+    def run(self):
+        while True:
+            playing = not self.paused and not self.rect_sel.dragging
+            if playing or self.frame is None:
+                ret, frame = self.cap.read()
+                if not ret:
+                    break
+                self.frame = np.frame.copy()
+            
+            w, h = getsize(self.frame)
+            vis = np.zeros((h, w*2, 3), np.uint8)
+            vis[:h,:w] = self.frame
+            if len(self.tracker.targets) > 0:
+                target = self.tracker.targets[0]
+                vis[:,w:] = target.image
+                draw_keypoints(vis[:,w:], target.keypoints)
+                x0, y0, x1, y1 = target.rect
+                cv2.rectangle(vis, (x0+w, y0), (x1+w, y1), (0, 255, 0), 2)
+
+            if playing:
+                tracked = self.tracker.track(self.frame)
+                if len(tracked) > 0:
+                    tracked = tracked[0]
+                    cv2.polylines(vis, [np.int32(tracked.quad)], True, (255, 255, 255), 2)
+                    for (x0, y0), (x1, y1) in zip(np.int32(tracked.p0), np.int32(tracked.p1)):
+                        cv2.line(vis, (x0+w, y0), (x1, y1), (0, 255, 0))
+            draw_keypoints(vis, self.tracker.frame_points)
+
+            self.rect_sel.draw(vis)
+            cv2.imshow('plane', vis)
+            ch = cv2.waitKey(1)
+            if ch == ord(' '):
+                self.paused = not self.paused
+            if ch == 27:
+                break
+
+
+if __name__ == '__main__':
+    print __doc__
+
+    import sys
+    try: video_src = sys.argv[1]
+    except: video_src = 0
+    App(video_src).run()
diff --git a/samples/python2/plane_ar.py b/samples/python2/plane_ar.py
new file mode 100755
index 0000000000..bb2b5aa4c8
--- /dev/null
+++ b/samples/python2/plane_ar.py
@@ -0,0 +1,103 @@
+'''
+Planar augmented reality
+==================
+
+This sample shows an example of augmented reality overlay over a planar object
+tracked by PlaneTracker from plane_tracker.py. solvePnP funciton is used to
+estimate the tracked object location in 3d space.
+
+video: http://www.youtube.com/watch?v=pzVbhxx6aog
+
+Usage
+-----
+plane_ar.py [<video source>]
+
+Keys:
+   SPACE  -  pause video
+   c      -  clear targets
+
+Select a textured planar object to track by drawing a box with a mouse.
+Use 'focal' slider to adjust to camera focal length for proper video augmentation.
+'''
+
+import numpy as np
+import cv2
+import video
+import common
+from plane_tracker import PlaneTracker
+
+    
+ar_verts = np.float32([[0, 0, 0], [0, 1, 0], [1, 1, 0], [1, 0, 0],
+                       [0, 0, 1], [0, 1, 1], [1, 1, 1], [1, 0, 1], 
+                       [0, 0.5, 2], [1, 0.5, 2]])
+ar_edges = [(0, 1), (1, 2), (2, 3), (3, 0), 
+            (4, 5), (5, 6), (6, 7), (7, 4),
+            (0, 4), (1, 5), (2, 6), (3, 7), 
+            (4, 8), (5, 8), (6, 9), (7, 9), (8, 9)]
+
+class App:
+    def __init__(self, src):
+        self.cap = video.create_capture(src)
+        self.frame = None
+        self.paused = False
+        self.tracker = PlaneTracker()
+
+        cv2.namedWindow('plane')
+        cv2.createTrackbar('focal', 'plane', 25, 50, common.nothing)
+        self.rect_sel = common.RectSelector('plane', self.on_rect)
+    
+    def on_rect(self, rect):
+        self.tracker.add_target(self.frame, rect)
+
+    def run(self):
+        while True:
+            playing = not self.paused and not self.rect_sel.dragging
+            if playing or self.frame is None:
+                ret, frame = self.cap.read()
+                if not ret:
+                    break
+                self.frame = frame.copy()
+            
+            vis = self.frame.copy()
+            if playing:
+                tracked = self.tracker.track(self.frame)
+                for tr in tracked:
+                    cv2.polylines(vis, [np.int32(tr.quad)], True, (255, 255, 255), 2)
+                    for (x, y) in np.int32(tr.p1):
+                        cv2.circle(vis, (x, y), 2, (255, 255, 255))
+                    self.draw_overlay(vis, tr)
+
+            self.rect_sel.draw(vis)
+            cv2.imshow('plane', vis)
+            ch = cv2.waitKey(1)
+            if ch == ord(' '):
+                self.paused = not self.paused
+            if ch == ord('c'):
+                self.tracker.clear()
+            if ch == 27:
+                break
+
+    def draw_overlay(self, vis, tracked):
+        x0, y0, x1, y1 = tracked.target.rect
+        quad_3d = np.float32([[x0, y0, 0], [x1, y0, 0], [x1, y1, 0], [x0, y1, 0]])
+        fx = 0.5 + cv2.getTrackbarPos('focal', 'plane') / 50.0
+        h, w = vis.shape[:2]
+        K = np.float64([[fx*w, 0, 0.5*(w-1)],
+                        [0, fx*w, 0.5*(h-1)],
+                        [0.0,0.0,      1.0]])
+        dist_coef = np.zeros(4)
+        ret, rvec, tvec = cv2.solvePnP(quad_3d, tracked.quad, K, dist_coef)
+        verts = ar_verts * [(x1-x0), (y1-y0), -(x1-x0)*0.3] + (x0, y0, 0)
+        verts = cv2.projectPoints(verts, rvec, tvec, K, dist_coef)[0].reshape(-1, 2)
+        for i, j in ar_edges:
+            (x0, y0), (x1, y1) = verts[i], verts[j]
+            cv2.line(vis, (int(x0), int(y0)), (int(x1), int(y1)), (255, 255, 0), 2)
+
+
+if __name__ == '__main__':
+    print __doc__
+
+    import sys
+    try: video_src = sys.argv[1]
+    except: video_src = 0
+    App(video_src).run()
diff --git a/samples/python2/plane_tracker.py b/samples/python2/plane_tracker.py
new file mode 100755
index 0000000000..32e84557b9
--- /dev/null
+++ b/samples/python2/plane_tracker.py
@@ -0,0 +1,171 @@
+'''
+Multitarget planar tracking
+==================
+
+Example of using features2d framework for interactive video homography matching.
+ORB features and FLANN matcher are used. This sample provides PlaneTracker class
+and an example of its usage.
+
+video: http://www.youtube.com/watch?v=pzVbhxx6aog
+
+Usage
+-----
+plane_tracker.py [<video source>]
+
+Keys:
+   SPACE  -  pause video
+   c      -  clear targets
+
+Select a textured planar object to track by drawing a box with a mouse.
+'''
+
+import numpy as np
+import cv2
+from collections import namedtuple
+import video
+import common
+
+
+FLANN_INDEX_KDTREE = 1
+FLANN_INDEX_LSH    = 6
+flann_params= dict(algorithm = FLANN_INDEX_LSH,
+                   table_number = 6, # 12
+                   key_size = 12,     # 20
+                   multi_probe_level = 1) #2
+
+MIN_MATCH_COUNT = 10
+
+'''
+  image     - image to track
+  rect      - tracked rectangle (x1, y1, x2, y2)
+  keypoints - keypoints detected inside rect
+  descrs    - their descriptors
+  data      - some user-provided data
+'''
+PlanarTarget = namedtuple('PlaneTarget', 'image, rect, keypoints, descrs, data')
+
+'''
+  target - reference to PlanarTarget
+  p0     - matched points coords in target image
+  p1     - matched points coords in input frame
+  H      - homography matrix from p0 to p1
+  quad   - target bounary quad in input frame
+'''
+TrackedTarget = namedtuple('TrackedTarget', 'target, p0, p1, H, quad')
+
+class PlaneTracker:
+    def __init__(self):
+        self.detector = cv2.ORB( nfeatures = 1000 )
+        self.matcher = cv2.FlannBasedMatcher(flann_params, {})  # bug : need to pass empty dict (#1329)
+        self.targets = []
+
+    def add_target(self, image, rect, data=None):
+        '''Add a new tracking target.'''
+        x0, y0, x1, y1 = rect
+        raw_points, raw_descrs = self.detect_features(image)
+        points, descs = [], []
+        for kp, desc in zip(raw_points, raw_descrs):
+            x, y = kp.pt
+            if x0 <= x <= x1 and y0 <= y <= y1:
+                points.append(kp)
+                descs.append(desc)
+        descs = np.uint8(descs)
+        self.matcher.add([descs])
+        target = PlanarTarget(image = image, rect=rect, keypoints = points, descrs=descs, data=None)
+        self.targets.append(target)
+
+    def clear(self):
+        '''Remove all targets'''
+        self.targets = []
+        self.matcher.clear()
+
+    def track(self, frame):
+        '''Returns a list of detected TrackedTarget objects'''
+        self.frame_points, self.frame_descrs = self.detect_features(frame)
+        if len(self.frame_points) < MIN_MATCH_COUNT:
+            return []
+        matches = self.matcher.knnMatch(self.frame_descrs, k = 2)
+        matches = [m[0] for m in matches if len(m) == 2 and m[0].distance < m[1].distance * 0.75]
+        if len(matches) < MIN_MATCH_COUNT:
+            return []
+        matches_by_id = [[] for _ in xrange(len(self.targets))]
+        for m in matches:
+            matches_by_id[m.imgIdx].append(m)
+        tracked = []
+        for imgIdx, matches in enumerate(matches_by_id):
+            if len(matches) < MIN_MATCH_COUNT:
+                continue
+            target = self.targets[imgIdx]
+            p0 = [target.keypoints[m.trainIdx].pt for m in matches]
+            p1 = [self.frame_points[m.queryIdx].pt for m in matches]
+            p0, p1 = np.float32((p0, p1))
+            H, status = cv2.findHomography(p0, p1, cv2.RANSAC, 3.0)
+            status = status.ravel() != 0
+            if status.sum() < MIN_MATCH_COUNT:
+                continue
+            p0, p1 = p0[status], p1[status]
+            
+            x0, y0, x1, y1 = target.rect
+            quad = np.float32([[x0, y0], [x1, y0], [x1, y1], [x0, y1]])
+            quad = cv2.perspectiveTransform(quad.reshape(1, -1, 2), H).reshape(-1, 2)
+
+            track = TrackedTarget(target=target, p0=p0, p1=p1, H=H, quad=quad)
+            tracked.append(track)
+        tracked.sort(key = lambda t: len(t.p0), reverse=True)
+        return tracked
+
+    def detect_features(self, frame):
+        '''detect_features(self, frame) -> keypoints, descrs'''
+        keypoints, descrs = self.detector.detectAndCompute(frame, None)
+        if descrs is None:  # detectAndCompute returns descs=None if not keypoints found
+            descrs = []
+        return keypoints, descrs
+
+
+class App:
+    def __init__(self, src):
+        self.cap = video.create_capture(src)
+        self.frame = None
+        self.paused = False
+        self.tracker = PlaneTracker()
+
+        cv2.namedWindow('plane')
+        self.rect_sel = common.RectSelector('plane', self.on_rect)
+    
+    def on_rect(self, rect):
+        self.tracker.add_target(self.frame, rect)
+
+    def run(self):
+        while True:
+            playing = not self.paused and not self.rect_sel.dragging
+            if playing or self.frame is None:
+                ret, frame = self.cap.read()
+                if not ret:
+                    break
+                self.frame = frame.copy()
+            
+            vis = self.frame.copy()
+            if playing:
+                tracked = self.tracker.track(self.frame)
+                for tr in tracked:
+                    cv2.polylines(vis, [np.int32(tr.quad)], True, (255, 255, 255), 2)
+                    for (x, y) in np.int32(tr.p1):
+                        cv2.circle(vis, (x, y), 2, (255, 255, 255))
+
+            self.rect_sel.draw(vis)
+            cv2.imshow('plane', vis)
+            ch = cv2.waitKey(1)
+            if ch == ord(' '):
+                self.paused = not self.paused
+            if ch == ord('c'):
+                self.tracker.clear()
+            if ch == 27:
+                break
+
+if __name__ == '__main__':
+    print __doc__
+
+    import sys
+    try: video_src = sys.argv[1]
+    except: video_src = 0
+    App(video_src).run()