{"action":"created","comment":{"url":"https://api.github.com/repos/modulabs/Meani.mo.Vision/pulls/comments/315519071","pull_request_review_id":276947407,"id":315519071,"node_id":"MDI0OlB1bGxSZXF1ZXN0UmV2aWV3Q29tbWVudDMxNTUxOTA3MQ==","diff_hunk":"@@ -0,0 +1,50 @@\n+import math\n+import os\n+import sys\n+\n+import cv2\n+import numpy as np\n+from matplotlib import pyplot as plt\n+from numpy import linalg\n+from imageLoader import ImageLoader as Loader\n+from preprocessor import Preprocessor\n+from featureDetector import FeatureDetector\n+from matcher import Matcher\n+\n+def registration(drone_img_path,lidar_img_path, outout_file):\n+\n+\n+    img_loader = Loader(drone_img_path,lidar_img_path)\n+    img_loader.load_imgs()\n+    drone_raws, lidar_raws = img_loader.get_imgs()\n+\n+\n+\n+    img_preprocessor = Preprocessor(drone_raws,lidar_raws)\n+    img_preprocessor.preprocessing()\n+    drone_img,lidar_img = img_preprocessor.get_processed_imgs()\n+\n+\n+\n+    feature_detector = FeatureDetector(drone_img,\"SIFT\",lidar_img,\"SIFT\")\n+    feature_detector.compute_features_and_descriptor()\n+    drone_features, drone_descs = feature_detector.get_feature_and_descriptor(img_type=\"drone\")\n+    lidar_features, lidar_descs = feature_detector.get_feature_and_descriptor(img_type=\"lidar\")\n+\n+\n+\n+    matcher = Matcher(drone_features,drone_descs,lidar_features,lidar_descs)\n+    matcher.extract_match()\n+    matcher.find_homography()\n+    matcher.draw_matches(drone_img,lidar_img,outout_file)\n+\n+    return\n+\n+\n+\n+if __name__ == '__main__':\n+    if (len(sys.argv) < 4):\n+        print >> sys.stderr, (\"Usage: %s <image_dir> <key_frame> <output>\" % sys.argv[0])\n+        sys.exit(-1)\n+\n+    registration(sys.argv[1], sys.argv[2], sys.argv[3])","path":"map.py","position":50,"original_position":50,"commit_id":"40ab4be60fcb0dd7bd1d7d3386442df2c062b8e1","original_commit_id":"40ab4be60fcb0dd7bd1d7d3386442df2c062b8e1","user":{"login":"visionNoob","id":15168540,"node_id":"MDQ6VXNlcjE1MTY4NTQw","avatar_url":"https://avatars1.githubusercontent.com/u/15168540?v=4","gravatar_id":"","url":"https://api.github.com/users/visionNoob","html_url":"https://github.com/visionNoob","followers_url":"https://api.github.com/users/visionNoob/followers","following_url":"https://api.github.com/users/visionNoob/following{/other_user}","gists_url":"https://api.github.com/users/visionNoob/gists{/gist_id}","starred_url":"https://api.github.com/users/visionNoob/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/visionNoob/subscriptions","organizations_url":"https://api.github.com/users/visionNoob/orgs","repos_url":"https://api.github.com/users/visionNoob/repos","events_url":"https://api.github.com/users/visionNoob/events{/privacy}","received_events_url":"https://api.github.com/users/visionNoob/received_events","type":"User","site_admin":false},"body":"sys.argv 대신 arg_parser 를 이용하는게 어떨까요? ","created_at":"2019-08-20T06:09:29Z","updated_at":"2019-08-20T06:29:44Z","html_url":"https://github.com/modulabs/Meani.mo.Vision/pull/1#discussion_r315519071","pull_request_url":"https://api.github.com/repos/modulabs/Meani.mo.Vision/pulls/1","author_association":"COLLABORATOR","_links":{"self":{"href":"https://api.github.com/repos/modulabs/Meani.mo.Vision/pulls/comments/315519071"},"html":{"href":"https://github.com/modulabs/Meani.mo.Vision/pull/1#discussion_r315519071"},"pull_request":{"href":"https://api.github.com/repos/modulabs/Meani.mo.Vision/pulls/1"}}},"pull_request":{"url":"https://api.github.com/repos/modulabs/Meani.mo.Vision/pulls/1","id":308752313,"node_id":"MDExOlB1bGxSZXF1ZXN0MzA4NzUyMzEz","html_url":"https://github.com/modulabs/Meani.mo.Vision/pull/1","diff_url":"https://github.com/modulabs/Meani.mo.Vision/pull/1.diff","patch_url":"https://github.com/modulabs/Meani.mo.Vision/pull/1.patch","issue_url":"https://api.github.com/repos/modulabs/Meani.mo.Vision/issues/1","number":1,"state":"open","locked":false,"title":"base 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