Light-weight Python bindings to perform homography estimation between two images with RANSAC from point, line or point-line correspondences. Based on RansacLib and developed by Iago Suarez, Viktor Larsson, and Rémi Pautrat.
This work relies on the following dependencies:
- Eigen (3.4.0)
- Ceres Solver (2.0.0)
After installing these two dependencies, you can clone and install the homography estimation code:
git clone --recurse-submodules git@github.com:rpautrat/homography_est.git
cd homography_est
pip install -e .
Check the examples in run_hest_test.cc and run_hest_test.py to understand how to use the library. We provide the following Python functions:
ransac_point_homography: homography estimation from a minimal set of 4 points.ransac_line_homography: homography estimation from a minimal set of 4 lines.ransac_point_line_homography: homography estimation with hybrid RANSAC from minimal sets of 4 points or 4 lines.
We also give the option to estimate the homography in case of a pure rotation between the images. In this case, only 2 features are minimal.