OpenCV 根据极线确定点匹配

import numpy as np
import cv2
from backend.__detector import detect_markers_solo
from backend._gs_ import aruco_dict, stereo_camera

#  通过基础矩阵 验证左右两幅图像中的点是否是匹配点
def check_match_by_fundentalmat(uvs1, uvs2, F):
  for i in range(len(uvs1)):
    uv1 = uvs1[i]
    uv2 = uvs2[i]
    ret = np.dot( F, np.array([uv1[0],uv1[1],1]).T)
    ret = np.dot( [uv2[0],uv2[1],1] , ret)

    print(ret)

def check_match_by_polar(uvs1, uvs2, F):
  # 获取极点
  U, S, V = np.linalg.svd(F)
  e = V[-1]
  epi_polar = e / e[2]


  # 极线方程
  for i, uv1 in enumerate( uvs1):
    line = np.dot(F, [uv1[0], uv1[1], 1])
    ret = np.dot(line, [uvs2[i][0], uvs2[i][1], 1])
    print('ret: ', ret)

def main():
  imgf1 = r'D:\mydocs\ftp\stereo_test\stereo_cali\small_test1\75_1.png'
  imgf2 = r'D:\mydocs\ftp\stereo_test\stereo_cali\small_test1\89_1.png'
  img1 = cv2.imread(imgf1)
  img2 = cv2.imread(imgf2)

  ret1 = detect_markers_solo(img1, aruco_dict, do_filter=True, pattern_num= 1)
  ret2 = detect_markers_solo(img2, aruco_dict, do_filter=True, pattern_num=1)
  if ret1 and ret2:
    frame1, marker_corners1, marker_ids1 = ret1
    frame2, marker_corners2, marker_ids2 = ret2

    # corners1 = np.array(marker_corners1).reshape(-1,2)
    # corners2 = np.array(marker_corners2).reshape(-1, 2)
    #
    # corners2_new = [ corners2[(ii+1)%len(corners2)]  for ii, item in enumerate(corners2)]
    # check_match_by_fundentalmat(corners1, corners2_new, stereo_camera.F)



    # shared_ids = [idx[0] for idx in marker_ids1 if idx in marker_ids2]
    # for idx in shared_ids:
    #   corners1 = [ marker_corners1[ii][0] for ii, id in enumerate(marker_ids1) if id[0]==idx ]
    #   corners2 = [marker_corners2[ii][0] for ii, id in enumerate(marker_ids2) if id[0] != idx]
    #   # check_match_by_fundentalmat(corners1[0], corners2[0], stereo_camera.F )
    #   check_match_by_polar(corners1[0], corners2[0], stereo_camera.F)
  #
  # cv2.imshow('left', cv2.resize(frame1, (1200,800)))
  # cv2.imshow('right', cv2.resize(frame2,(1200,900)))
  # cv2.waitKey()

  # check_match_by_fundentalmat([ [100,200], [300,400] ], [ [803, 904], [1010,209]], stereo_camera.F)
  check_match_by_polar([[100, 200], [300, 400]], [[803, 904], [1010, 209]], stereo_camera.F)

main()