import cv

from numpy import *

import sys

def testH():

    #lists of "corresponding" points generated by SURF features in two images take from the same camera center

    #with only a rotation

    pt1 = [(152.52816772460938, 20.358682632446289), (153.8487548828125, 33.626331329345703), (242.08982849121094, 72.3841552734375), (159.89042663574219, 79.080268859863281), (154.30534362792969, 87.881278991699219), (136.33106994628906, 94.235671997070312), (150.14376831054688, 95.132431030273438), (178.09989929199219, 115.19338989257812), (98.272804260253906, 115.78872680664062), (157.42922973632812, 128.45895385742188), (130.4014892578125, 133.82528686523438), (164.09202575683594, 134.9462890625), (135.70744323730469, 142.28207397460938), (106.18534088134766, 143.62043762207031), (141.94882202148438, 146.24305725097656), (147.4002685546875, 151.21243286132812), (230.97828674316406, 170.86077880859375), (113.70960235595703, 232.74678039550781), (114.16836547851562, 240.03398132324219), (183.41120910644531, 242.59872436523438), (43.796421051025391, 18.698308944702148), (47.094493865966797, 32.365299224853516), (138.58145141601562, 42.159477233886719), (48.381252288818359, 44.691349029541016), (139.94631958007812, 129.8272705078125), (214.72659301757812, 130.55690002441406), (197.163818359375, 137.88563537597656), (189.94619750976562, 144.96966552734375), (165.81950378417969, 146.18452453613281), (153.42445373535156, 147.70242309570312), (198.04240417480469, 151.62744140625), (165.64030456542969, 158.37408447265625), (203.46572875976562, 162.2913818359375), (240.68040466308594, 177.26947021484375), (187.51458740234375, 178.83811950683594), (197.78230285644531, 183.53977966308594), (93.10699462890625, 185.08847045898438), (223.78327941894531, 195.15875244140625), (184.26445007324219, 233.02522277832031), (46.921539306640625, 31.772287368774414), (216.85693359375, 46.762435913085938), (144.49729919433594, 94.581069946289062), (204.656494140625, 106.59593963623047), (124.646484375, 110.63187408447266), (202.05140686035156, 126.25439453125), (166.48085021972656, 131.96087646484375), (34.596958160400391, 203.58297729492188), (171.02215576171875, 233.7674560546875), (216.39303588867188, 134.78457641601562), (183.6317138671875, 141.64628601074219), (48.91815185546875, 44.166793823242188), (217.03958129882812, 46.34234619140625), (123.74197387695312, 109.49742889404297), (98.327384948730469, 112.38208770751953), (151.56266784667969, 125.66725158691406), (166.88125610351562, 131.25631713867188), (182.84819030761719, 140.93267822265625), (92.450584411621094, 187.91239929199219), (170.89910888671875, 232.88912963867188), (185.7783203125, 232.62934875488281), (147.1334228515625, 80.102119445800781), (127.67333984375, 156.706298828125), (219.86984252929688, 204.09367370605469), (179.78167724609375, 129.82972717285156), (99.997695922851562, 137.86727905273438), (149.37374877929688, 95.6044921875)] 

    pt2 = [(125.53578186035156, 51.52435302734375), (110.02400970458984, 134.05253601074219), (182.37040710449219, 142.85552978515625), (89.597152709960938, 40.367622375488281), (229.78521728515625, 54.379959106445312), (93.690521240234375, 40.129295349121094), (91.602630615234375, 35.517860412597656), (102.04780578613281, 16.041858673095703), (13.708375930786133, 29.125553131103516), (83.048881530761719, 33.859592437744141), (54.317401885986328, 43.9014892578125), (89.597152709960938, 40.367622375488281), (60.437026977539062, 52.38787841796875), (27.258777618408203, 58.950691223144531), (67.914833068847656, 55.572059631347656), (75.332572937011719, 60.742622375488281), (102.04780578613281, 16.041858673095703), (50.438758850097656, 146.11825561523438), (53.4190673828125, 155.35952758789062), (148.88218688964844, 179.79829406738281), (145.732177734375, 235.31556701660156), (25.799900054931641, 25.732763290405273), (54.317401885986328, 43.9014892578125), (145.732177734375, 235.31556701660156), (63.849758148193359, 38.467418670654297), (138.69264221191406, 26.558404922485352), (122.84760284423828, 37.584415435791016), (116.67330169677734, 45.548416137695312), (93.226844787597656, 52.499523162841797), (80.699737548828125, 54.521625518798828), (125.53578186035156, 51.52435302734375), (94.11151123046875, 64.677841186523438), (131.1077880859375, 61.197052001953125), (164.18798828125, 68.315345764160156), (116.76667785644531, 79.360580444335938), (126.90982055664062, 81.596427917480469), (22.571693420410156, 110.33196258544922), (151.18255615234375, 88.125686645507812), (119.41507720947266, 130.84095764160156), (25.799900054931641, 25.732763290405273), (89.597152709960938, 40.367622375488281), (75.332572937011719, 60.742622375488281), (25.799900054931641, 25.732763290405273), (43.38934326171875, 20.013149261474609), (126.59946441650391, 24.9737548828125), (91.602630615234375, 35.517860412597656), (89.597152709960938, 40.367622375488281), (108.30321502685547, 134.3792724609375), (138.69264221191406, 26.558404922485352), (110.58564758300781, 43.865806579589844), (145.732177734375, 235.31556701660156), (89.597152709960938, 40.367622375488281), (25.799900054931641, 25.732763290405273), (13.708375930786133, 29.125553131103516), (76.340919494628906, 32.057289123535156), (91.602630615234375, 35.517860412597656), (110.58564758300781, 43.865806579589844), (22.571693420410156, 110.33196258544922), (105.36590576171875, 134.71514892578125), (119.41507720947266, 130.84095764160156), (64.503509521484375, 46.621444702148438), (53.8558349609375, 71.946907043457031), (148.48095703125, 96.553314208984375), (151.18255615234375, 88.125686645507812), (145.732177734375, 235.31556701660156), (64.503509521484375, 46.621444702148438)]

#    #convert the lists to CvMat using numpy array 

#    #p1 = cv.CreateMat(1, len(pt1), cv.CV_32FC2)

    p1 = cv.fromarray(array(pt1))

#    print p1

#    

    p2 = cv.fromarray(array(pt2))

    #p2 = cv.CreateMat(1, len(pt2), cv.CV_32FC2)

    #allocate matrix to store Homography

    #H = cv.fromarray(a)

    H = cv.CreateMat(3, 3, cv.CV_32FC1)

    cv.FindHomography(p1, p2, H, cv.CV_LMEDS)

    #cv.FindFundamentalMat(p1, p2, H)

    #print outH

    #print H

    #print asarray(outH)

    print asarray(H)

def main():

    print "testing testH"

    testH()

    print "hello"

    testH()

    print "end"

if __name__ == "__main__":

    main()