panography_kernel.cc

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// Copyright (c) 2008, 2009 libmv authors.
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#include "libmv/multiview/panography_kernel.h"
#include "libmv/multiview/panography.h"
 
namespace libmv {
namespace panography {
namespace kernel {
 
void TwoPointSolver::Solve(const Mat& x1, const Mat& x2, vector<Mat3>* Hs) {
  // Solve for the focal lengths.
  vector<double> fs;
  F_FromCorrespondance_2points(x1, x2, &fs);
 
  // Then solve for the rotations and homographies.
  Mat x1h, x2h;
  EuclideanToHomogeneous(x1, &x1h);
  EuclideanToHomogeneous(x2, &x2h);
  for (int i = 0; i < fs.size(); ++i) {
    Mat3 K1 = Mat3::Identity() * fs[i];
    K1(2, 2) = 1.0;
 
    Mat3 R;
    GetR_FixedCameraCenter(x1h, x2h, fs[i], &R);
    R /= R(2, 2);
 
    (*Hs).push_back(K1 * R * K1.inverse());
  }
}
 
}  // namespace kernel
}  // namespace panography
}  // namespace libmv