![]() Transformation_rigid_matrix = np.vstack((transformation_rigid_matrix, affine_row)) Transformation_rigid_matrix, rigid_mask = cv.estimateAffinePartial2D(src_pts, dst_pts) # Compute a rigid transformation (without depth, only scale + rotation + translation) /affine transformation Src_pts = np.float32(.pt for m in matches]).reshape(-1, 1, 2)ĭst_pts = np.float32(.pt for m in matches]).reshape(-1, 1, 2) # Transforming keypoints to list of points # Find an Homography matrix between two pictures ![]() New_img:h1 + translation_dist, translation_dist:w1 + translation_dist] = img1ĭef find_homography(kpt1, kpt2, matches): New_img = cv.warpPerspective(img2, H_translation.dot(M), (x_max - x_min, y_max - y_min)) ListOfPoints = np.concatenate((pts_corners_src, pts_corners_dst), axis=0) Pts_corners_dst = cv.perspectiveTransform(pts_corners_temp, M) # perform perspective tranform using previously calculated matrix and the corners of # When we have established a homography we need to warp perspective # get the corner coordinates of the "query" and "train" image # Create a blank image with the size of the first image + second image Here is my code where i print panorama between img1 and img2, and between img2 and img3: import numpy as npįrom matplotlib.pyplot import imshow, show, subplot, title, axisĭef draw_matches(img1, kpt1, img2, kpt2, matches): Someone can help me please to implement what i need please ? I didn't find a good explanation or an enough good explanation for me in order to compute and fine the panoramic view of theses 3 pictures. So, I have to of course choose image 2 as the center of the panorama And i don't know to do that ( panoramic view for 3 pictures. Then i know to compute and find the panoramic view between only 2 images, and i do it between img1 and img2, and between img2 and img3.īut Then for the last step, i want to find the panoramic view of theses 3 pictures using affine tranformation with Ransac algorithm from opencv. ACM, 2003.I need to make a panoramic view from serie of pictures (3 pictures).Īfter that i created orb, detected and computed keypoints and descriptors for the three picture, i matched the most likely similars keypoints between: In ACM Transactions on Graphics (ToG), volume 22, pages 277–286. Graphcut textures: image and video synthesis using graph cuts. Vivek Kwatra, Arno Schödl, Irfan Essa, Greg Turk, and Aaron Bobick. ![]() Look into the releases section for the pre-compiled binary raspivid-inatech. Step5: Encode videoĪssemble all stitched JPEG files into a video again and encode it back to H264. Rebuild stitching_detailed with the matrices selected in the previous step as hardcoded transformation, and stitch all the video frames. Only one set of matrices is selected for the next step. Each matching frames of the stream will have different matrices. In case of success, each frame has two matrices: the camera matrix (aka “K”) which encodes the camera characteristics (e.g., focal, aspect ratio), and the rotation matrix (aka “R”) which encodes the camera rotation.Īs explained in the beginning of this article, stitching will assumes a pure rotation, which is not the case in real life. Depending of the feature algorithm (e.g., SURF, ORB, …) and the details visible in the overlapping area of the frames, matching will succeed or not. Run OpenCV stitching_detailed on some matching frames to find transformation matrices. Step2: Align framesĬopy video streams, split video in single JPEG files along with capture timing information in text file (i.e., modified raspivid PTS file).įind the matching frames. Power on, let PTP stabilize (might take a few minutes), start recording on each Raspberry Pi. While recording the video, the network is only used for PTP and no other communication is made. Even though the Raspberry Pi Ethernet lacks the dedicated hardware for high accuracy PTP clocks ( hardware timestamping), it still often achieves a clock synchronization well under 1ms using PTP in software mode. The software PLL changes the camera framerate at runtime to align frame capture time on the Linux system clock.Īll eight system clocks are synchronized over Ethernet using PTP (which stands for Precision Time Protocol).
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