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// For Open Source Computer Vision Library
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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//M*/
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#ifndef OPENCV_STITCHING_AUTOCALIB_HPP
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#define OPENCV_STITCHING_AUTOCALIB_HPP
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#include "opencv2/core.hpp"
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#include "matchers.hpp"
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namespace cv {
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namespace detail {
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//! @addtogroup stitching_autocalib
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//! @{
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/** @brief Tries to estimate focal lengths from the given homography under the assumption that the camera
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undergoes rotations around its centre only.
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@param H Homography.
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@param f0 Estimated focal length along X axis.
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@param f1 Estimated focal length along Y axis.
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@param f0_ok True, if f0 was estimated successfully, false otherwise.
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@param f1_ok True, if f1 was estimated successfully, false otherwise.
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See "Construction of Panoramic Image Mosaics with Global and Local Alignment"
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by Heung-Yeung Shum and Richard Szeliski.
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*/
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void CV_EXPORTS focalsFromHomography(const Mat &H, double &f0, double &f1, bool &f0_ok, bool &f1_ok);
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/** @brief Estimates focal lengths for each given camera.
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@param features Features of images.
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@param pairwise_matches Matches between all image pairs.
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@param focals Estimated focal lengths for each camera.
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*/
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void CV_EXPORTS estimateFocal(const std::vector<ImageFeatures> &features,
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const std::vector<MatchesInfo> &pairwise_matches,
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std::vector<double> &focals);
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bool CV_EXPORTS calibrateRotatingCamera(const std::vector<Mat> &Hs, Mat &K);
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//! @} stitching_autocalib
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} // namespace detail
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} // namespace cv
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#endif // OPENCV_STITCHING_AUTOCALIB_HPP
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