potok/opencv
1
0
Fork 0
mirror of https://github.com/opencv/opencv.git synced 2026-07-30 07:43:03 +04:00
Code Packages Releases Wiki Activity

updated focal estimation (opencv_stitching) + refactoring

Browse Source
This commit is contained in:
Alexey Spizhevoy
2011-05-24 05:58:15 +00:00
parent 5c5cd449b3
commit ef966e15c1
6 changed files with 80 additions and 54 deletions
Download Patch File Download Diff File Expand all files Collapse all files
modules/stitching/autocalib.cpp
+28 -17
View File
@@ -76,35 +76,46 @@ void focalsFromHomography(const Mat& H, double &f0, double &f1, bool &f0_ok, boo
}
double estimateFocal(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches)
void estimateFocal(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
vector<double> &focals)
{
const int num_images = static_cast<int>(features.size());
focals.resize(num_images);
vector<double> focals;
for (int src_idx = 0; src_idx < num_images; ++src_idx)
{
for (int dst_idx = 0; dst_idx < num_images; ++dst_idx)
vector<vector<double> > all_focals(num_images);
for (int i = 0; i < num_images; ++i)
{
for (int j = 0; j < num_images; ++j)
{
const MatchesInfo &m = pairwise_matches[src_idx*num_images + dst_idx];
const MatchesInfo &m = pairwise_matches[i*num_images + j];
if (m.H.empty())
continue;
double f0, f1;
bool f0ok, f1ok;
focalsFromHomography(m.H, f0, f1, f0ok, f1ok);
if (f0ok && f1ok) focals.push_back(sqrt(f0*f1));
if (f0ok && f1ok)
{
all_focals[i].push_back(f0);
all_focals[j].push_back(f1);
}
}
}
if (static_cast<int>(focals.size()) >= num_images * (num_images - 1) / 2)
{
nth_element(focals.begin(), focals.end(), focals.begin() + focals.size()/2);
return focals[focals.size()/2];
}
LOGLN("Can't estimate focal length, will use naive approach");
double focals_sum = 0;
for (int i = 0; i < num_images; ++i)
focals_sum += features[i].img_size.width + features[i].img_size.height;
return focals_sum / num_images;
{
if (all_focals[i].size() > 0)
{
nth_element(all_focals[i].begin(), all_focals[i].end(),
all_focals[i].begin() + all_focals[i].size()/2);
focals[i] = all_focals[i][all_focals[i].size()/2];
}
else
{
LOGLN("Can't estimate focal length #" << i << ", will use naive approach");
focals[i] = features[i].img_size.width + features[i].img_size.height;
}
}
}