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Fix focal length estimation from homography matrix

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Lilit Grigoryan 2023-02-13 20:12:37 +03:00 committed by Lilit
parent 56102737d7
commit a87b9fb4b6
1 changed files with 10 additions and 2 deletions
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12
modules/stitching/src/autocalib.cpp
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@ -74,7 +74,11 @@ void focalsFromHomography(const Mat& H, double &f0, double &f1, bool &f0_ok, boo
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) std::swap(v1, v2);
if (v1 < v2)
{
std::swap(v1, v2);
std::swap(d1, d2);
}
if (v1 > 0 && v2 > 0) f1 = std::sqrt(std::abs(d1) > std::abs(d2) ? v1 : v2);
else if (v1 > 0) f1 = std::sqrt(v1);
else f1_ok = false;
@ -84,7 +88,11 @@ void focalsFromHomography(const Mat& H, double &f0, double &f1, bool &f0_ok, boo
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) std::swap(v1, v2);
if (v1 < v2)
{
std::swap(v1, v2);
std::swap(d1, d2);
}
if (v1 > 0 && v2 > 0) f0 = std::sqrt(std::abs(d1) > std::abs(d2) ? v1 : v2);
else if (v1 > 0) f0 = std::sqrt(v1);
else f0_ok = false;