mirror of https://github.com/opencv/opencv.git
Open Source Computer Vision Library
https://opencv.org/
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56 lines
1.5 KiB
56 lines
1.5 KiB
import numpy as np |
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import cv2 |
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import os |
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image_extensions = ['.bmp', '.jpg', '.jpeg', '.png', '.tif', '.tiff', '.pbm', '.pgm', '.ppm'] |
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def splitfn(fn): |
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path, fn = os.path.split(fn) |
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name, ext = os.path.splitext(fn) |
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return path, name, ext |
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def anorm2(a): |
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return (a*a).sum(-1) |
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def anorm(a): |
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return np.sqrt( anorm2(a) ) |
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def homotrans(H, x, y): |
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xs = H[0, 0]*x + H[0, 1]*y + H[0, 2] |
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ys = H[1, 0]*x + H[1, 1]*y + H[1, 2] |
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s = H[2, 0]*x + H[2, 1]*y + H[2, 2] |
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return xs/s, ys/s |
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def to_rect(a): |
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a = np.ravel(a) |
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if len(a) == 2: |
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a = (0, 0, a[0], a[1]) |
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return np.array(a, np.float64).reshape(2, 2) |
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def rect2rect_mtx(src, dst): |
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src, dst = to_rect(src), to_rect(dst) |
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cx, cy = (dst[1] - dst[0]) / (src[1] - src[0]) |
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tx, ty = dst[0] - src[0] * (cx, cy) |
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M = np.float64([[ cx, 0, tx], |
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[ 0, cy, ty], |
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[ 0, 0, 1]]) |
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return M |
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def lookat(eye, target, up = (0, 0, 1)): |
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fwd = np.asarray(target, np.float64) - eye |
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fwd /= anorm(fwd) |
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right = np.cross(fwd, up) |
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right /= anorm(right) |
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down = np.cross(fwd, right) |
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R = np.float64([right, down, fwd]) |
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tvec = -np.dot(R, eye) |
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return R, tvec |
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def mtx2rvec(R): |
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w, u, vt = cv2.SVDecomp(R - np.eye(3)) |
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p = vt[0] + u[:,0]*w[0] # same as np.dot(R, vt[0]) |
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c = np.dot(vt[0], p) |
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s = np.dot(vt[1], p) |
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axis = np.cross(vt[0], vt[1]) |
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return axis * np.arctan2(s, c) |
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