I'm attempting to use some C source code from the following file in the OpenMV Github repo:

https://github.com/openmv/openmv/blob/m ... priltag.c

To compute the homography between an input camera image and a preferred image perspective on an STM32F746G DISCO.

I've extracted the relevant files to successfully compile and perform a homography computation test. (zarray, matd, homography, svd22, fmath, math_util ... etc.)

The aim is to find the homography using the following pairs of co-ordinates:

**(58,21) -> (32,32)**

(141,35) -> (115,32)

(58,75) -> (32,86)

(141,89) -> (115,86)

(141,35) -> (115,32)

(58,75) -> (32,86)

(141,89) -> (115,86)

I've shown my approach to doing this below:

Declare globally:

Code: Select all

```
matd_t homographyMatrix;
float coord1[] = {58,21,32,32}; // src and dst
float coord2[] = {141,35,115,32}; // src and dst
float coord3[] = {58,75,32,86}; // src and dst
float coord4[] = {141,89,115,86}; // src and dst
```

Code: Select all

```
zarray_t *homographyParameters = zarray_create(sizeof(float[4]));
zarray_add(homographyParameters, &coord1);
zarray_add(homographyParameters, &coord2);
zarray_add(homographyParameters, &coord3);
zarray_add(homographyParameters, &coord4);
homographyMatrix = *homography_compute(homographyParameters,HOMOGRAPHY_COMPUTE_FLAG_SVD);
zarray_destroy(homographyParameters);
```

**OpenMV Homography Matrix:**

M(0,0) = 3.94191378e-034

M(0,1) = 1.08434073e-019

M(0,2) = 0

M(1,0) = -2

M(1,1) = 1.40129846e-045

M(1,2) = 0

M(2,0) = 0

M(2,1) = 0

M(2,2) = 0

**OpenCV Homography Matrix:**

M(0,0) = 1

M(0,1) = -3.97548050e-18

M(0,2) = -26

M(1,0) = -0.16874699

M(1,1) = 1

M(1,2) = 20.7831325

M(2,0) = 0

M(2,1) = 0

M(2,2) = 1

Furthermore when I use the homography_project() function with the homography calculated by OpenCV the project co-ordinates are as expected e.g. (58,21) maps to (32,32) although this is not the case when I use the homography calculated by OpenMV as the variable 'zz' inside homography_project() always seems to be 0 and therefore the program crashes as the 'xx' and 'yy' values are divided by 'zz'.

I was hoping you'd possibly be able to shed some light on how the homography_compute() function should be used.

Thanks in advance!

Dan