def explore_match(win, img1, img2, kp_pairs, status = None, H = None):
    h1, w1 = img1.shape[:2]
    h2, w2 = img2.shape[:2]
    vis = np.zeros((max(h1, h2), w1+w2), np.uint8)
    vis[:h1, :w1] = img1
    vis[:h2, w1:w1+w2] = img2
    vis = cv2.cvtColor(vis, cv2.COLOR_GRAY2BGR)

    if H is not None:
        corners = np.float32([[0, 0], [w1, 0], [w1, h1], [0, h1]])
        corners = np.int32( cv2.perspectiveTransform(corners.reshape(1, -1, 2), H).reshape(-1, 2) + (w1, 0) )
        cv2.polylines(vis, [corners], True, (255, 255, 255))

    if status is None:
        status = np.ones(len(kp_pairs), np.bool_)
    p1 = np.int32([kpp[0].pt for kpp in kp_pairs])
    p2 = np.int32([kpp[1].pt for kpp in kp_pairs]) + (w1, 0)

    green = (0, 255, 0)
    red = (0, 0, 255)
    white = (255, 255, 255)
    kp_color = (51, 103, 236)
    for (x1, y1), (x2, y2), inlier in zip(p1, p2, status):
        if inlier:
            col = green
            cv2.circle(vis, (x1, y1), 2, col, -1)
            cv2.circle(vis, (x2, y2), 2, col, -1)
        else:
            col = red
            r = 2
            thickness = 3
            cv2.line(vis, (x1-r, y1-r), (x1+r, y1+r), col, thickness)
            cv2.line(vis, (x1-r, y1+r), (x1+r, y1-r), col, thickness)
            cv2.line(vis, (x2-r, y2-r), (x2+r, y2+r), col, thickness)
            cv2.line(vis, (x2-r, y2+r), (x2+r, y2-r), col, thickness)
    vis0 = vis.copy()
    for (x1, y1), (x2, y2), inlier in zip(p1, p2, status):
        if inlier:
            cv2.line(vis, (x1, y1), (x2, y2), green)

    cv2.imshow(win, vis)
    def onmouse(event, x, y, flags, param):
        cur_vis = vis
        if flags & cv2.EVENT_FLAG_LBUTTON:
            cur_vis = vis0.copy()
            r = 8
            m = (anorm(p1 - (x, y)) < r) | (anorm(p2 - (x, y)) < r)
            idxs = np.where(m)[0]
            kp1s, kp2s = [], []
            for i in idxs:
                 (x1, y1), (x2, y2) = p1[i], p2[i]
                 col = (red, green)[status[i]]
                 cv2.line(cur_vis, (x1, y1), (x2, y2), col)
                 kp1, kp2 = kp_pairs[i]
                 kp1s.append(kp1)
                 kp2s.append(kp2)
            cur_vis = cv2.drawKeypoints(cur_vis, kp1s, flags=4, color=kp_color)
            cur_vis[:,w1:] = cv2.drawKeypoints(cur_vis[:,w1:], kp2s, flags=4, color=kp_color)

        cv2.imshow(win, cur_vis)
    cv2.setMouseCallback(win, onmouse)
    return vis
dataset/ETHPy150Open fatcloud/PyCV-time/opencv-official-samples/2.4.9/find_obj.py/explore_match/original