{"id":6922,"date":"2019-05-20T09:18:49","date_gmt":"2019-05-20T00:18:49","guid":{"rendered":"http:\/\/www.gisdeveloper.co.kr\/?p=6922"},"modified":"2020-05-28T10:31:07","modified_gmt":"2020-05-28T01:31:07","slug":"python%ea%b3%bc-opencv-40-%eb%93%b1%ea%b7%b9%ec%84%a0-%ea%b8%b0%ed%95%98epipolar-geometry","status":"publish","type":"post","link":"http:\/\/www.gisdeveloper.co.kr\/?p=6922","title":{"rendered":"Python\uacfc OpenCV \u2013 45 : \ub4f1\uadf9\uc120 \uae30\ud558(Epipolar Geometry)"},"content":{"rendered":"

\uc774 \uae00\uc758 \uc6d0\ubb38\uc740 https:\/\/opencv-python-tutroals.readthedocs.io\/en\/latest\/py_tutorials\/py_calib3d\/py_epipolar_geometry\/py_epipolar_geometry.html \uc785\ub2c8\ub2e4.<\/p?\n\n\n\n

Epipolar Geometry\ub294 \uc601\uc5b4\uc774\uace0, \ub4f1\uadf9\uc120 \uae30\ud558\ub294 \uc911\uad6d \ud55c\uc790\uc774\uace0.. \u315c_\u315c \uc7a0\uc2dc \uc0dd\uac01\uc774 \ub9ce\uc544\uc9d1\ub2c8\ub2e4. \uadf8\ub0e5 \uc774 \uc6a9\uc5b4\uc5d0 \ub300\ud574\uc11c\ub294 \uc5b4\ub5a0\ud55c \uc5b4\uc124\ud508 \ubc88\uc5ed\uc5c6\uc774 Epipolar Geometry\ub77c\uace0 \ud558\uaca0\uc2b5\ub2c8\ub2e4. \ub124, \uc774 \uae00\uc740 Epipolar Geometry\uc5d0 \ub300\ud55c \uae00\uc785\ub2c8\ub2e4. Epipolar Geometry\uac00 \ubb34\uc5c7\uc778\uc9c0\ubd80\ud130 \ud30c\uc545\ud558\uace0 Epipolar Geometry\uc640 \uc5f0\uad00\ub41c Epiline, Epipole\ub97c \uad6c\ud558\ub294 OpenCV\uc758 \ud568\uc218\ub97c \uc0b4\ud3b4\ubcf4\uaca0\uc2b5\ub2c8\ub2e4. \ubb3c\ub860 \uc774\ub7ec\ud55c \uc124\uba85 \uc911\uc5d0 \uc65c! Epipolar Geometry\uac00 \ud544\uc694\ud55c\uc9c0\ub3c4 \ud30c\uc545\ud560 \uac83\uc785\ub2c8\ub2e4.<\/p>\n

\uce74\uba54\ub77c\ub97c \ud1b5\ud574 \uc774\ubbf8\uc9c0\ub97c \ucd2c\uc601\ud560 \ub54c, \uc774\ubbf8\uc9c0\uc758 \uae4a\uc774\ub77c\ub294 \uc911\uc694\ud55c \uc815\ubcf4\uac00 \uc18c\uc2e4\ub429\ub2c8\ub2e4. \ub2ec\ub9ac \ub9d0\ud574 3\ucc28\uc6d0\uc5d0\uc11c 2\ucc28\uc6d0\uc73c\ub85c \ubcc0\ud658\ub418\ubbc0\ub85c \uce74\uba54\ub77c\uc758 \uc704\uce58\uc5d0\uc11c \uc774\ubbf8\uc9c0\uc758 \uac01 \uc9c0\uc810\uc774 \uc5bc\ub9c8\ub098 \uba40\ub9ac \ub5a8\uc5b4\uc838 \uc788\ub294\uc9c0 \uc54c \uc218 \uc5c6\uc2b5\ub2c8\ub2e4. \uadf8\ub798\uc11c \uadf8\ub798\uc11c \uc774\ub7ec\ud55c \uce74\uba54\ub77c\ub97c \uc774\uc6a9\ud558\uc5ec \uae4a\uc774 \uc815\ubcf4\ub97c \uc5bb\uc744 \uc218 \uc788\ub294\uc9c0\uc5d0 \ub300\ud55c \uac83\uc740 \uc911\uc694\ud55c \ubb38\uc81c\uc785\ub2c8\ub2e4. \uadf8\ub9ac\uace0 \uadf8\uc5d0 \ub300\ud55c \ub300\ub2f5\uc740 \ud558\ub098 \uc774\uc0c1\uc758 \uce74\uba54\ub77c\ub97c \uc774\uc6a9\ud55c\ub2e4\uba74 \uac00\ub2a5\ud558\ub2e4\uc785\ub2c8\ub2e4. \uc6b0\ub9ac\uc758 \ub450 \ub208\uc740 2\uac1c\uc758 \uce74\uba54\ub77c\uc5d0 \ube44\uc720\ud560 \uc218 \uc788\ub294\ub370, \uc774\ucc98\ub7fc 2\ub300\uc758 \uce74\uba54\ub77c\ub97c \uc774\uc6a9\ud55c Vison \uc601\uc5ed\uc744 \uc2a4\ud14c\ub808\uc624 \ube44\uc804(Stero Vision)\uc774\ub77c\uace0 \ud569\ub2c8\ub2e4. \uc2a4\ud14c\ub808\uc624 \ube44\uc804\uc744 \uc704\ud574 OpenCV\uc5d0\uc11c \uc81c\uacf5\ud558\ub294 \uac83\uc740 \ubb34\uc5c7\uc778\uc9c0\ub3c4 \uc0b4\ud3b4 \ubcf4\uaca0\uc2b5\ub2c8\ub2e4. (\uc774\ub7ec\ud55c \ubd84\uc57c\ub97c \uc704\ud574 Learing OpenCV by Gray Bradsky \uac00 \ub9ce\uc740 \uc815\ubcf4\ub97c \uc81c\uacf5\ud569\ub2c8\ub2e4.)<\/p>\n

\uae4a\uc774 \uc815\ubcf4 \uc774\ubbf8\uc9c0\ub97c \uc0b4\ud3b4\ubcf4\uae30 \uc804\uc5d0, \uba3c\uc800 \ub2e4\uc911\ubdf0 \uc9c0\uc624\uba54\ud2b8\ub9ac\uc5d0 \ub300\ud55c \uae30\ubcf8 \uac1c\ub150\uc744 \uc0b4\ud3b4\ubd05\uc2dc\ub2e4. \uc544\ub798\uc758 \uc774\ubbf8\uc9c0\ub294 2\ub300\uc758 \uce74\uba54\ub77c\ub97c \uc124\uce58\ud558\uace0 \ub3d9\uc77c\ud55c \uc7a5\uba74\uc5d0 \ub300\ud55c \uc774\ubbf8\uc9c0\ub97c \ucd2c\uc601\ud558\ub294 \uac83\uc5d0 \ub300\ud55c \uac1c\ub150\ub3c4\uc785\ub2c8\ub2e4.<\/p>\n

\"\"<\/p>\n

\uc67c\ucabd \uce74\uba54\ub77c\ub9cc\uc744 \uc0ac\uc6a9\ud55c\ub2e4\uba74, \uc774\ubbf8\uc9c0\uc758 x \uc9c0\uc810\uc5d0 \ud574\ub2f9\ud558\ub294 3\ucc28\uc6d0 \ud3ec\uc778\ud2b8\ub97c \uc54c \uc218 \uc5c6\ub294\ub370, \uc774\ub294 \uc120 OX \uc0c1\uc758 \ubaa8\ub4e0 \uc9c0\uc810\uc774 \uc774\ubbf8\uc9c0 \ud3c9\uba74 \uc0c1\uc5d0 \ub3d9\uc77c\ud55c \uc9c0\uc810\uc5d0 \ud22c\uc601\ub418\uae30 \ub54c\ubb38\uc785\ub2c8\ub2e4. \uadf8\ub7ec\ub098 \uc624\ub978\ucabd \uc774\ubbf8\uc9c0\ub3c4 \ud55c\ubc88 \uc0b4\ud3b4 \ubd05\uc2dc\ub2e4. \uc120 OX \uc0c1\uc5d0 \uc11c\ub85c \ub2e4\ub978 \uc9c0\uc810\ub4e4\uc740 \uc624\ub978\ucabd \uc774\ubbf8\uc9c0 \ud3c9\uba74\uc5d0\uc11c\ub294 \uc11c\ub85c \ub2e4\ub978 \uc9c0\uc810(x’)\uc73c\ub85c \ud22c\uc601\ub429\ub2c8\ub2e4. \uadf8\ub798\uc11c \uc774\ub7ec\ud55c 2\uac1c\uc758 \uc774\ubbf8\uc9c0\ub97c \uc774\uc6a9\ud574, \uc815\ud655\ud55c 3\ucc28\uc6d0 \uc9c0\uc810\uc744 3\uac01 \uce21\ub7c9\uc774 \uac00\ub2a5\ud558\uac8c \ub429\ub2c8\ub2e4.<\/p>\n

\uc67c\ucabd\uc758 \uc120 OX \uc0c1\uc5d0 \ub2e4\ub978 \uc9c0\uc810\uc758 \ud22c\uc601\uc740 \uc624\ub978\ucabd \uc774\ubbf8\uc9c0 \ud3c9\uba74\uc5d0 \ud558\ub098\uc758 \uc120(l’)\uc744 \uad6c\uc131\ud569\ub2c8\ub2e4. \uc774 \uc120\uc744 x \uc9c0\uc810\uc5d0 \ud574\ub2f9\ud558\ub294 epiline\ub77c\uace0 \ud569\ub2c8\ub2e4. \uc774\ub294 \uc624\ub978\ucabd \uc774\ubbf8\uc9c0 \uc704\uc5d0 x \uc9c0\uc810\uc744 \ucc3e\uae30 \uc704\ud574 \uc774 epiline\uc744 \ub530\ub77c \ucc3e\uc73c\uba74 \ub41c\ub2e4\ub294 \uc758\ubbf8\uc785\ub2c8\ub2e4. \uc774 \uc120 \uc0c1 \uc5b4\ub514\uc5d4\uac00 \uc874\uc7ac\ud574\uc57c\ub9cc \ud569\ub2c8\ub2e4. (\uc774 \ubc29\ubc95\uc744 \uc0dd\uac01\ud574 \ubcf4\uba74, \ub2e4\ub978 \uc774\ubbf8\uc9c0\uc5d0\uc11c \ub9e4\uce6d\ub418\ub294 \uc9c0\uc810\uc744 \ucc3e\uae30 \uc704\ud574, \uc804\uccb4 \uc774\ubbf8\uc9c0\ub97c \uc870\uc0ac\ud560 \ud544\uc694\uac00 \uc5c6\uace0, \ub2e8\uc9c0 epiline \uc0c1\uc758 \uc9c0\uc810\ub9cc\uc744 \uc870\uc0ac\ud558\uba74 \ub41c\ub2e4\ub294 \uac83\uc785\ub2c8\ub2e4.) \uc774\ub97c Epipolar Constraint\ub77c\uace0 \ud569\ub2c8\ub2e4. \uc720\uc0ac\ud558\uac8c \ubaa8\ub4e0 \uc9c0\uc810\uc740 \ub2e4\ub978 \uc774\ubbf8\uc9c0 \uc0c1\uc5d0 \uac01\uac01\uc5d0 \ud574\ub2f9\ud558\ub294 epline\uc744 \uac00\uc9c0\uace0 \uc788\uc2b5\ub2c8\ub2e4. \ud3c9\uba74 XOO’\ub97c Epipolar Plane\ub77c\uace0 \ud569\ub2c8\ub2e4.<\/p>\n

O\uc640 O’\ub294 \uce74\uba54\ub77c\uc758 \uc911\uc2ec\uc785\ub2c8\ub2e4. \uc704\uc758 \uadf8\ub9bc\uc758 \uc124\uc815\uc5d0\uc11c, \uc624\ub978\ucabd \uce74\uba54\ub77c O’\ub294 \uc67c\ucabd \uc774\ubbf8\uc9c0\uc5d0\uc11c \uc9c0\uc810 e\uc5d0 \ud22c\uc601\ub429\ub2c8\ub2e4. \uc774 \uc9c0\uc810 e\ub97c Epipole\uc774\ub77c\uace0 \ud569\ub2c8\ub2e4. Epipole\ub294 \uc774\ubbf8\uc9c0 \ud3c9\uba74\uacfc \uce74\uba54\ub77c \uc911\uc2ec\uc744 \uad00\ud1b5\ud558\ub294 \uad50\ucc28\uc810\uc785\ub2c8\ub2e4. \ub3d9\uc77c\ud558\uac8c e’\ub294 \uc67c\ucabd \uce74\uba54\ub77c\uc758 Epipole \uc785\ub2c8\ub2e4. \uc774\ubbf8\uc9c0\uc5d0\uc11c Epipole\ub97c \ubc1c\uacac\ud560 \uc218 \uc5c6\ub294 \uacbd\uc6b0\uac00 \uc788\ub294\ub370, \uc774\ub294 Epipole\uc774 \uc774\ubbf8\uc9c0 \ubc16\uc5d0 \uc874\uc7ac\ud560 \uc218 \uc788\uae30 \ub54c\ubb38\uc785\ub2c8\ub2e4(\uc774\ub294 \ud558\ub098\uc758 \uce74\uba54\ub77c\uac00 \ub2e4\ub978 \ucf00\ub9c8\ub77c\ub294 \ubcf4\uace0 \uc788\uc9c0 \uc54a\ub2e4\ub294 \uc758\ubbf8\uc784).<\/p>\n

\ubaa8\ub4e0 Epiline\ub294 Epipole\uc744 \uc9c0\ub0a9\ub2c8\ub2e4. \uadf8\ub798\uc11c Epipole\uc744 \ucc3e\uae30 \uc704\ud574\uc11c \ub9ce\uc740 Epiline\ub97c \ucc3e\uc744 \uc218 \uc788\uace0, \uc774 Epiline\uacfc\uc758 \uad50\ucc28\uc810\uc744 \ucc3e\uc744 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

\uacb0\uad6d \uc774 \uae00\uc5d0\uc11c\ub294, Epipolar \uc120\uacfc Epipole\ub97c \uad6c\ud558\ub294 \uac83\uc774 \ud575\uc2ec\uc785\ub2c8\ub2e4. \uc774\ub97c \uad6c\ud558\uae30 \uc704\ud574\uc11c 2\uac1c\uc758 \uad6c\uc131\uc694\uc18c\uac00 \ud544\uc694\ud55c\ub370, Fundamental Matrix\uc640 Essential Matrix\uc774\uba70 \uac01\uac01\uc744 F\uc640 E\ub77c\uace0 \ud558\uaca0\uc2b5\ub2c8\ub2e4. E\ub294 \uc804\uc5ed \uc88c\ud45c\uacc4(Global Coordinate) \uc0c1\uc758 \uccab\ubc88\uc9f8 \uce74\uba54\ub77c\uc640 \uc5f0\uad00\ub41c \ub450\ubc88\uc9f8 \uce74\uba54\ub77c\uc758 \uc704\uce58\ub97c \ub098\ud0c0\ub0b4\ub294 \uc774\ub3d9\uacfc \ud68c\uc804\uc5d0 \ub300\ud55c \uc815\ubcf4\ub97c \uac00\uc9c0\uace0 \uc788\uc2b5\ub2c8\ub2e4. \uc544\ub798\uc758 \uc774\ubbf8\uc9c0(\ucd9c\ucc98 : Learning OpenCV by Gary Bradsky)\ub97c \ucc38\uace0\ud569\uc2dc\ub2e4.<\/p>\n

\"\"<\/p>\n

\uadf8\ub7ec\ub098 \uc6b0\ub9ac\ub294 \ud53d\uc140 \uc88c\ud45c\uacc4\ub85c \uce21\uc815\ud558\ub294 \uac83\uc744 \uc120\ud638\ud569\ub2c8\ub2e4. F\ub294 E\uc640 \ub3d9\uc77c\ud55c \uc815\ubcf4\ub97c \ud3ec\ud568\ud558\uace0 \uc788\uc73c\uba74\uc11c \ub450 \uce74\uba54\ub77c\uc758 \uace0\uc720\ud55c \uc815\ubcf4\ub97c \ucd94\uac00\uc801\uc73c\ub85c \uac00\uc9c0\uace0 \uc788\uc5b4\uc11c \ud53d\uc140 \uc88c\ud45c\ub85c \ub450 \uce74\uba54\ub77c\ub97c \uc5f0\uad00 \uc9c0\uc744 \uc218 \uc788\uc2b5\ub2c8\ub2e4. (\ub9cc\uc57d \ubcf4\uc815\ub41c \uc774\ubbf8\uc9c0\ub97c \uc0ac\uc6a9\ud558\uace0 \ucd08\uc810 \uac70\ub9ac\uc5d0 \uc758\ud574 \ub098\ub220\uc9c4 \uc9c0\uc810\uc744 \uc815\uaddc\ud558\uc2dc\ud0a4\uba74 F\uc640 E\ub294 \ub3d9\uc77c\ud569\ub2c8\ub2e4.) \uac04\ub2e8\ud788 \ub9d0\ud574, F\ub294 \ud558\ub098\uc758 \uc774\ubbf8\uc9c0 \uc0c1\uc758 \ud55c \uc9c0\uc810\uc744 \ub2e4\ub978 \uc774\ubbf8\uc9c0 \uc0c1\uc758 \ud558\ub098\uc758 \uc120(Epiline)\uc5d0 \ub9f5\ud551\ub429\ub2c8\ub2e4. \uc774\ub294 \ub450 \uc774\ubbf8\uc9c0\ub85c\ubd80\ud130 \ub9e4\uce58\ub418\ub294 \uc9c0\uc810\uc73c\ub85c\ubd80\ud130 \uacc4\uc0b0\ub429\ub2c8\ub2e4. F\ub97c \uad6c\ud558\uae30 \uc704\ud574\uc11c \ucd5c\uc18c\ud55c 8\uac1c\uc758 \uc774\ub7ec\ud55c \uc9c0\uc810\uc774 \ud544\uc694(8-point \uc54c\uace0\ub9ac\uc998)\ud569\ub2c8\ub2e4. \ub354 \ub9ce\uc740 \uc9c0\uc810\uc774 \uc788\ub2e4\uba74 \uc88b\uc73c\uba70 RANSAC\ub97c \uc0ac\uc6a9\ud558\uba74 \ub354 \uc88b\uc740 \uacb0\uacfc\ub97c \uc5bb\uc744 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

\uc774\uc81c OpenCV\ub97c \uc774\uc6a9\ud55c \uc608\uc81c \ucf54\ub4dc\ub97c \uc0b4\ud3b4\ubcf4\uaca0\uc2b5\ub2c8\ub2e4. \uac00\uc7a5 \uba3c\uc800 2\uac1c\uc758 \uc774\ubbf8\uc9c0(\ub3d9\uc77c\ud55c \ud53c\uc0ac\uccb4\ub97c \uc67c\ucabd\uacfc \uc624\ub978\ucabd\uc5d0\uc11c \ucd2c\uc6a9\ud55c) \uc0ac\uc774\uc5d0 \ub9e4\uce6d\ub418\ub294 \ud2b9\uc9d5\uc810\uc744 \ucd5c\ub300\ud55c \ub9ce\uc774 \ucc3e\uc544\ub0b4\uc57c \ud569\ub2c8\ub2e4. \uc774\ub97c \uc704\ud574 FLANN\uc5d0 \uae30\ubc18\ud55c \ub9e4\ucc98\ub97c \uc774\uc6a9\ud55c SIFT \ub514\uc2a4\ud06c\ub9bd\ud130\ub97c \uc0ac\uc6a9\ud558\uace0 ratio \ud14c\uc2a4\ud2b8\ud569\ub2c8\ub2e4.<\/p>\n

\r\nimport cv2\r\nimport numpy as np\r\nfrom matplotlib import pyplot as plt\r\n\r\nimg1 = cv2.imread('.\/data\/dvd_left.jpg',0)  #queryimage # left image\r\nimg2 = cv2.imread('.\/data\/dvd_right.jpg',0) #trainimage # right image\r\n\r\nsift = cv2.xfeatures2d.SIFT_create()\r\n\r\n# find the keypoints and descriptors with SIFT\r\nkp1, des1 = sift.detectAndCompute(img1,None)\r\nkp2, des2 = sift.detectAndCompute(img2,None)\r\n\r\n# FLANN parameters\r\nFLANN_INDEX_KDTREE = 0\r\nindex_params = dict(algorithm = FLANN_INDEX_KDTREE, trees = 5)\r\nsearch_params = dict(checks=50)\r\n\r\nflann = cv2.FlannBasedMatcher(index_params,search_params)\r\nmatches = flann.knnMatch(des1,des2,k=2)\r\n\r\ngood = []\r\npts1 = []\r\npts2 = []\r\n\r\n# ratio test as per Lowe's paper\r\nfor i,(m,n) in enumerate(matches):\r\n    if m.distance < 0.8*n.distance:\r\n        good.append(m)\r\n        pts2.append(kp2[m.trainIdx].pt)\r\n        pts1.append(kp1[m.queryIdx].pt)\r\n<\/pre>\n
\ub450 \uc774\ubbf8\uc9c0\ub85c\ubd80\ud130 \ub9e4\uce6d\ub418\ub294 \ud2b9\uc9d5\uc810 \uc911 \uac00\uc7a5 \uc88b\uc740 \uac83\ub4e4\uc744 \uc774\uc6a9\ud574 Fundamental Matrix\ub97c \uacc4\uc0b0\ud569\ub2c8\ub2e4.<\/p>\n
\r\npts1 = np.int32(pts1)\r\npts2 = np.int32(pts2)\r\nF, mask = cv2.findFundamentalMat(pts1,pts2,cv2.FM_LMEDS)\r\n\r\n# We select only inlier points\r\npts1 = pts1[mask.ravel()==1]\r\npts2 = pts2[mask.ravel()==1]\r\n<\/pre>\n
\ub2e4\uc74c\uc740 Epiline\ub97c \ucc3e\uc544\uc57c \ud569\ub2c8\ub2e4. \uccab\ubc88\uc9f8 \uc774\ubbf8\uc9c0\uc758 \uc9c0\uc810\uc5d0 \ud574\ub2f9\ud558\ub294 Epiline\uc740 \ub450\ubc88\uc7ac \uc774\ubbf8\uc9c0\uc5d0 \uadf8\ub824\uc9d1\ub2c8\ub2e4. \uc120\uc5d0 \ub300\ud55c \ubc30\uc5f4\uc774 \uc5bb\uc5b4\uc9d1\ub2c8\ub2e4.  \uc774\ub7ec\ud55c \uc120\uc744 \uc774\ubbf8 \uc0c1\uc5d0 \uadf8\ub9ac\ub294 \ud568\uc218\ub97c \uc815\uc758\ud588\ub294\ub370, \uc544\ub798\uc640 \uac19\uc2b5\ub2c8\ub2e4.<\/p>\n
\r\ndef drawlines(img1,img2,lines,pts1,pts2):\r\n    ''' img1 - image on which we draw the epilines for the points in img2\r\n        lines - corresponding epilines '''\r\n    r,c = img1.shape\r\n    img1 = cv2.cvtColor(img1,cv2.COLOR_GRAY2BGR)\r\n    img2 = cv2.cvtColor(img2,cv2.COLOR_GRAY2BGR)\r\n\r\n    for r,pt1,pt2 in zip(lines,pts1,pts2):\r\n        color = tuple(np.random.randint(0,255,3).tolist())\r\n        x0,y0 = map(int, [0, -r[2]\/r[1] ])\r\n        x1,y1 = map(int, [c, -(r[2]+r[0]*c)\/r[1] ])\r\n        img1 = cv2.line(img1, (x0,y0), (x1,y1), color,1)\r\n        img1 = cv2.circle(img1,tuple(pt1),5,color,-1)\r\n        img2 = cv2.circle(img2,tuple(pt2),5,color,-1)\r\n\r\n    return img1,img2\r\n<\/pre>\n
\uc774\uc81c, \ub450 \uc774\ubbf8\uc9c0\uc5d0\uc11c Epiline\ub97c \ucc3e\uc544 \uadf8\ub824\uc90d\ub2c8\ub2e4.<\/p>\n
\r\n# Find epilines corresponding to points in right image (second image) and\r\n# drawing its lines on left image\r\nlines1 = cv2.computeCorrespondEpilines(pts2.reshape(-1,1,2), 2,F)\r\nlines1 = lines1.reshape(-1,3)\r\nimg5,img6 = drawlines(img1,img2,lines1,pts1,pts2)\r\n\r\n# Find epilines corresponding to points in left image (first image) and\r\n# drawing its lines on right image\r\nlines2 = cv2.computeCorrespondEpilines(pts1.reshape(-1,1,2), 1,F)\r\nlines2 = lines2.reshape(-1,3)\r\nimg3,img4 = drawlines(img2,img1,lines2,pts2,pts1)\r\n\r\nplt.subplot(121),plt.imshow(img5)\r\nplt.subplot(122),plt.imshow(img3)\r\nplt.show()\r\n<\/pre>\n
\uacb0\uacfc\ub294 \ub2e4\uc74c\uacfc \uac19\uc2b5\ub2c8\ub2e4.<\/p>\n
\"\"<\/p>\n","protected":false},"excerpt":{"rendered":"
\uc774 \uae00\uc758 \uc6d0\ubb38\uc740 https:\/\/opencv-python-tutroals.readthedocs.io\/en\/latest\/py_tutorials\/py_calib3d\/py_epipolar_geometry\/py_epipolar_geometry.html \uc785\ub2c8\ub2e4.<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[130,131],"tags":[],"class_list":["post-6922","post","type-post","status-publish","format-standard","hentry","category-opencv","category-python"],"_links":{"self":[{"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=\/wp\/v2\/posts\/6922","targetHints":{"allow":["GET"]}}],"collection":[{"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=6922"}],"version-history":[{"count":8,"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=\/wp\/v2\/posts\/6922\/revisions"}],"predecessor-version":[{"id":9415,"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=\/wp\/v2\/posts\/6922\/revisions\/9415"}],"wp:attachment":[{"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=6922"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=6922"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.gisdeveloper.co.kr\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=6922"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}