Image Stitching for NVIDIA Jetson/User Guide/Homography estimation

Image Stitching for NVIDIA®Jetson™
Before Starting
Image Stitching Basics
Stitching Projections
Overview
Stitcher Projector Typical Applications Limitations and known issues
Getting Started
Evaluating the Stitcher Getting the code Building Image Stitching
User Guide
Quick Start Guide Controlling the Stitcher Calibration GStreamer Additional details
Resources
3D bases Panoramic data 360 data
Examples
Basic pipelines Using Gstd Other pipelines
Spherical Video
About Equirectangular Projection Projector Building Projector Stitcher Calibration Tool
Performance
Orin Xavier Nano
Contact Us

The following page will introduce a way to estimate an initial homography matrix that can be used in the cudastitcher element. This method consists of a Python script that estimates the homography between two images.

Dependencies

• Python 3.6
• OpenCV 4.0 or later.
• Numpy

Script estimation flow

The steps performed by the script are the following:

1. Load the images.
2. Remove the distortion of the images.
3. Perform a preprocessing to the images removing the noise using a Gaussian filter.
4. Extract the keypoint and the corresponding descriptors with the SIFT algorithm.
5. Find the correspondences among the key points of the two images.
6. With the resulting keypoints, estimate the homography.

Script usage

The script has two modes:

• left_fixed: where the left image is fixed and the right image will be transformed by the homography.
• right_fixed: where the right image is fixed and the left image will be transformed by the homograpy.

For both modes can be adjusted the sigma value of the Gaussian filter and the width size of the overlap between the two images. The following are the complete options of the script:

python homography_estimation.py --help
usage: homography_estimation.py [-h] {left_fixed,right_fixed} ...

Tool for use the prediction capabilities of the models in the Adversarial
Anomaly Detector.

positional arguments:
  {left_fixed,right_fixed}
    left_fixed          Estimation of homography between two images
    right_fixed         Estimation of homographies two images

optional arguments:
  -h, --help            show this help message and exit

Type "homography_estimation.py <command> -h" for more information.