From 3be51ded5d1e3b970de4aea9ddef37fc58f43096 Mon Sep 17 00:00:00 2001 From: Alexey Spizhevoy Date: Fri, 17 Jun 2011 13:22:38 +0000 Subject: [PATCH] fixed typo in opencv_stitching --- modules/stitching/autocalib.cpp | 154 ++++++++++++++++++++-------------------- 1 file changed, 77 insertions(+), 77 deletions(-) diff --git a/modules/stitching/autocalib.cpp b/modules/stitching/autocalib.cpp index de1c5ef..fbd2967 100644 --- a/modules/stitching/autocalib.cpp +++ b/modules/stitching/autocalib.cpp @@ -38,80 +38,80 @@ // or tort (including negligence or otherwise) arising in any way out of // the use of this software, even if advised of the possibility of such damage. // -//M*/ -#include "autocalib.hpp" -#include "util.hpp" - -using namespace std; -using namespace cv; - -void focalsFromHomography(const Mat& H, double &f0, double &f1, bool &f0_ok, bool &f1_ok) -{ - CV_Assert(H.type() == CV_64F && H.size() == Size(3, 3)); - - const double* h = reinterpret_cast(H.data); - - double d1, d2; // Denominators - double v1, v2; // Focal squares value candidates - - f1_ok = true; - d1 = h[6] * h[7]; - d2 = (h[7] - h[6]) * (h[7] + h[6]); - v1 = -(h[0] * h[1] + h[3] * h[4]) / d1; - v2 = (h[0] * h[0] + h[3] * h[3] - h[1] * h[1] - h[4] * h[4]) / d2; - if (v1 < v2) swap(v1, v2); - if (v1 > 0 && v2 > 0) f1 = sqrt(abs(d1) > abs(d2) ? v1 : v2); - else if (v1 > 0) f1 = sqrt(v1); - else f1_ok = false; - - f0_ok = true; - d1 = h[0] * h[3] + h[1] * h[4]; - d2 = h[0] * h[0] + h[1] * h[1] - h[3] * h[3] - h[4] * h[4]; - v1 = -h[2] * h[5] / d1; - v2 = (h[5] * h[5] - h[2] * h[2]) / d2; - if (v1 < v2) swap(v1, v2); - if (v1 > 0 && v2 > 0) f0 = sqrt(abs(d1) > abs(d2) ? v1 : v2); - else if (v1 > 0) f0 = sqrt(v1); - else f0_ok = false; -} - - -void estimateFocal(const vector &features, const vector &pairwise_matches, - vector &focals) -{ - const int num_images = static_cast(features.size()); - focals.resize(num_images); - - vector all_focals; - - for (int i = 0; i < num_images; ++i) - { - for (int j = 0; j < num_images; ++j) - { - 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) - all_focals.push_back(sqrt(f0 * f1)); - } - } - - if (static_cast(all_focals.size()) < num_images - 1) - { - LOGLN("Can't estimate focal length, will use anaive 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; - for (int i = 0; i < num_images; ++i) - focals[i] = focals_sum / num_images; - } - else - { - nth_element(all_focals.begin(), all_focals.begin() + all_focals.size()/2, all_focals.end()); - for (int i = 0; i < num_images; ++i) - focals[i] = all_focals[all_focals.size()/2]; - } -} +//M*/ +#include "autocalib.hpp" +#include "util.hpp" + +using namespace std; +using namespace cv; + +void focalsFromHomography(const Mat& H, double &f0, double &f1, bool &f0_ok, bool &f1_ok) +{ + CV_Assert(H.type() == CV_64F && H.size() == Size(3, 3)); + + const double* h = reinterpret_cast(H.data); + + double d1, d2; // Denominators + double v1, v2; // Focal squares value candidates + + f1_ok = true; + d1 = h[6] * h[7]; + d2 = (h[7] - h[6]) * (h[7] + h[6]); + v1 = -(h[0] * h[1] + h[3] * h[4]) / d1; + v2 = (h[0] * h[0] + h[3] * h[3] - h[1] * h[1] - h[4] * h[4]) / d2; + if (v1 < v2) swap(v1, v2); + if (v1 > 0 && v2 > 0) f1 = sqrt(abs(d1) > abs(d2) ? v1 : v2); + else if (v1 > 0) f1 = sqrt(v1); + else f1_ok = false; + + f0_ok = true; + d1 = h[0] * h[3] + h[1] * h[4]; + d2 = h[0] * h[0] + h[1] * h[1] - h[3] * h[3] - h[4] * h[4]; + v1 = -h[2] * h[5] / d1; + v2 = (h[5] * h[5] - h[2] * h[2]) / d2; + if (v1 < v2) swap(v1, v2); + if (v1 > 0 && v2 > 0) f0 = sqrt(abs(d1) > abs(d2) ? v1 : v2); + else if (v1 > 0) f0 = sqrt(v1); + else f0_ok = false; +} + + +void estimateFocal(const vector &features, const vector &pairwise_matches, + vector &focals) +{ + const int num_images = static_cast(features.size()); + focals.resize(num_images); + + vector all_focals; + + for (int i = 0; i < num_images; ++i) + { + for (int j = 0; j < num_images; ++j) + { + 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) + all_focals.push_back(sqrt(f0 * f1)); + } + } + + if (static_cast(all_focals.size()) >= num_images - 1) + { + nth_element(all_focals.begin(), all_focals.begin() + all_focals.size()/2, all_focals.end()); + for (int i = 0; i < num_images; ++i) + focals[i] = all_focals[all_focals.size()/2]; + } + else + { + 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; + for (int i = 0; i < num_images; ++i) + focals[i] = focals_sum / num_images; + } +} -- 2.7.4