generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

added handling of camera parameters estimation errors (#3122)

Browse Source
This commit is contained in:
Alexey Spizhevoy
2013-07-03 15:20:14 +04:00
parent 70deda354a
commit 37ea872204
5 changed files with 65 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

13
modules/stitching/src/stitcher.cpp
View File

@@ -102,7 +102,8 @@ Stitcher::Status Stitcher::estimateTransform(InputArray images, const std::vecto
if ((status = matchImages()) != OK)
return status;
estimateCameraParams();
if ((status = estimateCameraParams()) != OK)
return status;
return OK;
}
@@ -442,10 +443,11 @@ Stitcher::Status Stitcher::matchImages()
}
void Stitcher::estimateCameraParams()
Stitcher::Status Stitcher::estimateCameraParams()
{
detail::HomographyBasedEstimator estimator;
estimator(features_, pairwise_matches_, cameras_);
if (!estimator(features_, pairwise_matches_, cameras_))
return ERR_HOMOGRAPHY_EST_FAIL;
for (size_t i = 0; i < cameras_.size(); ++i)
{
@@ -456,7 +458,8 @@ void Stitcher::estimateCameraParams()
}
bundle_adjuster_->setConfThresh(conf_thresh_);
(*bundle_adjuster_)(features_, pairwise_matches_, cameras_);
if (!(*bundle_adjuster_)(features_, pairwise_matches_, cameras_))
return ERR_CAMERA_PARAMS_ADJUST_FAIL;
// Find median focal length and use it as final image scale
std::vector<double> focals;
@@ -481,6 +484,8 @@ void Stitcher::estimateCameraParams()
for (size_t i = 0; i < cameras_.size(); ++i)
cameras_[i].R = rmats[i];
}
return OK;
}
} // namespace cv