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updated focal estimation again (opencv_stitching)

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This commit is contained in:
Alexey Spizhevoy 2011-05-24 06:07:47 +00:00
parent ef966e15c1
commit eaa6614101
1 changed files with 14 additions and 19 deletions
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33
modules/stitching/autocalib.cpp
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@ -82,7 +82,7 @@ void estimateFocal(const vector<ImageFeatures> &features, const vector<MatchesIn
const int num_images = static_cast<int>(features.size()); const int num_images = static_cast<int>(features.size());
focals.resize(num_images); focals.resize(num_images);
vector<vector<double> > all_focals(num_images); vector<double> all_focals;
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
{ {
@ -91,31 +91,26 @@ void estimateFocal(const vector<ImageFeatures> &features, const vector<MatchesIn
const MatchesInfo &m = pairwise_matches[i*num_images + j]; const MatchesInfo &m = pairwise_matches[i*num_images + j];
if (m.H.empty()) if (m.H.empty())
continue; continue;
double f0, f1; double f0, f1;
bool f0ok, f1ok; bool f0ok, f1ok;
focalsFromHomography(m.H, f0, f1, f0ok, f1ok); focalsFromHomography(m.H, f0, f1, f0ok, f1ok);
if (f0ok && f1ok) if (f0ok && f1ok)
{ all_focals.push_back(sqrt(f0 * f1));
all_focals[i].push_back(f0);
all_focals[j].push_back(f1);
}
} }
} }
for (int i = 0; i < num_images; ++i) if (all_focals.size() > 0)
{ {
if (all_focals[i].size() > 0) nth_element(all_focals.begin(), all_focals.end(), all_focals.begin() + all_focals.size()/2);
{ for (int i = 0; i < num_images; ++i)
nth_element(all_focals[i].begin(), all_focals[i].end(), focals[i] = all_focals[all_focals.size()/2];
all_focals[i].begin() + all_focals[i].size()/2); }
focals[i] = all_focals[i][all_focals[i].size()/2]; else
} {
else double focals_sum = 0;
{ for (int i = 0; i < num_images; ++i)
LOGLN("Can't estimate focal length #" << i << ", will use naive approach"); focals_sum += features[i].img_size.width + features[i].img_size.height;
focals[i] = features[i].img_size.width + features[i].img_size.height; for (int i = 0; i < num_images; ++i)
} focals[i] = focals_sum / num_images;
} }
} }