[[0.999931, 3.05449e-06, 0.0219359],
[-3.46952e-05, 1.00004, 0.0162477],
[-1.20569e-08, -6.80167e-09, 1]]
在Python中,trs_矩阵(单应性)是:
[[ 3.36311631e-44, 0.00000000e+00, 2.25339716e+12]
[ 4.59163468e-41,2.25339612e+12, 4.59163468e-41]
[ 2.25339821e+12,4.59163468e-41, 2.24207754e-44]]
Python代码:
def find_homo(self, numLoops=1000, minScore=0.85, maxAmbiguity=0.95, thresh=5.0):
homography = ctypes.POINTER(ctypes.c_float)()
num_match = _LIB.FindHomography_C(
ctypes.byref(self),
ctypes.byref(homography),
ctypes.c_int(numLoops),
ctypes.c_float(minScore),
ctypes.c_float(maxAmbiguity),
ctypes.c_float(thresh)
)
trs_matrix = ctypes2numpy(homography, 9, np.float32).reshape((3, 3))
return trs_matrix, num_match
def ctypes2numpy(cptr, length, dtype):
#Convert a ctypes pointer array to a numpy array
if not isinstance(cptr, ctypes.POINTER(ctypes.c_float)):
raise RuntimeError('Expected float pointer')
res = np.zeros(length, dtype=dtype)
if not ctypes.memmove(res.ctypes.data, cptr, length * res.strides[0]):
raise RuntimeError('memmove failed')
return res
C++代码:
^{pr2}$
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