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Fixed median focal length estimation in the stitching module

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This commit is contained in:
Alexey Spizhevoy 2011-10-24 12:35:11 +00:00
parent b74e9c101a
commit 28e006ad4f
3 changed files with 24 additions and 6 deletions
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11
modules/stitching/src/autocalib.cpp
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@ -120,9 +120,16 @@ void estimateFocal(const vector<ImageFeatures> &features, const vector<MatchesIn
if (static_cast<int>(all_focals.size()) >= num_images - 1) if (static_cast<int>(all_focals.size()) >= num_images - 1)
{ {
nth_element(all_focals.begin(), all_focals.begin() + all_focals.size()/2, all_focals.end()); double median;
sort(all_focals.begin(), all_focals.end());
if (all_focals.size() % 2 == 1)
median = all_focals[all_focals.size() / 2];
else
median = (all_focals[all_focals.size() / 2 - 1] + all_focals[all_focals.size() / 2]) * 0.5;
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
focals[i] = all_focals[all_focals.size()/2]; focals[i] = median;
} }
else else
{ {

9
modules/stitching/src/stitcher.cpp
View File

@ -442,8 +442,13 @@ void Stitcher::estimateCameraParams()
LOGLN("Camera #" << indices_[i] + 1 << ":\n" << cameras_[i].K()); LOGLN("Camera #" << indices_[i] + 1 << ":\n" << cameras_[i].K());
focals.push_back(cameras_[i].focal); focals.push_back(cameras_[i].focal);
} }
nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end());
warped_image_scale_ = static_cast<float>(focals[focals.size() / 2]); sort(focals.begin(), focals.end());
float warped_image_scale;
if (focals.size() % 2 == 1)
warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
else
warped_image_scale = static_cast<float>(focals[focals.size() / 2 - 1] + focals[focals.size() / 2]) * 0.5f;
if (do_wave_correct_) if (do_wave_correct_)
{ {

10
samples/cpp/stitching_detailed.cpp
View File

@ -486,14 +486,20 @@ int main(int argc, char* argv[])
(*adjuster)(features, pairwise_matches, cameras); (*adjuster)(features, pairwise_matches, cameras);
// Find median focal length // Find median focal length
vector<double> focals; vector<double> focals;
for (size_t i = 0; i < cameras.size(); ++i) for (size_t i = 0; i < cameras.size(); ++i)
{ {
LOGLN("Camera #" << indices[i]+1 << ":\n" << cameras[i].K()); LOGLN("Camera #" << indices[i]+1 << ":\n" << cameras[i].K());
focals.push_back(cameras[i].focal); focals.push_back(cameras[i].focal);
} }
nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end());
float warped_image_scale = static_cast<float>(focals[focals.size() / 2]); sort(focals.begin(), focals.end());
float warped_image_scale;
if (focals.size() % 2 == 1)
warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
else
warped_image_scale = static_cast<float>(focals[focals.size() / 2 - 1] + focals[focals.size() / 2]) * 0.5f;
if (do_wave_correct) if (do_wave_correct)
{ {