print "good_kp2", len(match.good_kp2) match.draw_matches(roi, match.good_matches) cv2.namedWindow('roi', cv2.WINDOW_NORMAL) cv2.imshow('roi', roi) cv2.waitKey(0) cv2.destroyAllWindows() # Compute F vo = VisualOdometry() [match.good_kp1, match.good_kp2] = vo.EstimateF_multiprocessing(match.good_kp1, match.good_kp2) print vo.F # Obtener matrices de cmara vo.P_from_F(vo.F) vo.create_P1() print "P1", vo.cam1.P print "P2", vo.cam2.P # Triangulate points vo.optimal_triangulation(match.good_kp2, match.good_kp1) print "origianl points1", match.good_kp1[0:5, :] print "corrected points1", vo.correctedkpts1[:, 0:5] print "origianl points2", match.good_kp2[0:5, :] print "corrected points2", vo.correctedkpts2[:, 0:5] # print "structure", np.shape(vo.structure) print "structure", vo.structure[:, 1] image = vo.cam2.project(vo.structure) print "reprojected", image[:, 0:5] image2 = vo.cam1.project(vo.structure) print "reprojected", image2[:, 0:5]