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modified focal estimation function in opencv_stitching

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This commit is contained in:
Alexey Spizhevoy
2011-05-18 08:56:48 +00:00
parent 34e2c78cec
commit 60e1eda149
3 changed files with 55 additions and 118 deletions
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modules/stitching/motion_estimators.cpp
+4 -34
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@@ -64,46 +64,16 @@ struct CalcRotation
};
void HomographyBasedEstimator::estimate(const vector<Mat> &images, const vector<ImageFeatures> &/*features*/,
void HomographyBasedEstimator::estimate(const vector<Mat> &images, const vector<ImageFeatures> &features,
const vector<MatchesInfo> &pairwise_matches, vector<CameraParams> &cameras)
{
const int num_images = static_cast<int>(images.size());
// Find focals from pair-wise homographies
vector<bool> is_focal_estimated(num_images, false);
vector<double> focals;
for (int i = 0; i < num_images; ++i)
{
for (int j = 0; j < num_images; ++j)
{
int pair_idx = i * num_images + j;
if (pairwise_matches[pair_idx].H.empty())
continue;
double f_to, f_from;
bool f_to_ok, f_from_ok;
focalsFromHomography(pairwise_matches[pair_idx].H.inv(), f_to, f_from, f_to_ok, f_from_ok);
if (f_from_ok) focals.push_back(f_from);
if (f_to_ok) focals.push_back(f_to);
if (f_from_ok && f_to_ok)
{
is_focal_estimated[i] = true;
is_focal_estimated[j] = true;
}
}
}
is_focals_estimated_ = true;
for (int i = 0; i < num_images; ++i)
is_focals_estimated_ = is_focals_estimated_ && is_focal_estimated[i];
// Find focal median and use it as true focal length
nth_element(focals.begin(), focals.end(), focals.begin() + focals.size() / 2);
// Estimate focal length and set it for all cameras
double focal = estimateFocal(images, features, pairwise_matches);
cameras.resize(num_images);
for (int i = 0; i < num_images; ++i)
cameras[i].focal = focals[focals.size() / 2];
cameras[i].focal = focal;
// Restore global motion
Graph span_tree;