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Optimization for recent changes in keyframe selection

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This commit is contained in:
Sergey Sharybin 2013-10-01 14:55:34 +00:00
parent d8020f54ba
commit 3169e96ae2
1 changed files with 2 additions and 3 deletions
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5
extern/libmv/libmv/simple_pipeline/keyframe_selection.cc vendored
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@ -214,8 +214,7 @@ void SelectKeyframesBasedOnGRICAndVariance(const Tracks &tracks,
&H);
// Convert homography to original pixel space.
Mat3 N = IntrinsicsNormalizationMatrix(intrinsics);
H = N.inverse() * H * N;
H = N_inverse * H * N;
FundamentalEstimationOptions fundamental_estimation_options;
FundamentalFromCorrespondencesEuc(x1,
@ -224,7 +223,7 @@ void SelectKeyframesBasedOnGRICAndVariance(const Tracks &tracks,
&F);
// Convert fundamental to original pixel space.
F = N.inverse() * F * N;
F = N_inverse * F * N;
// TODO(sergey): STEP 2: Discard outlier matches