Optimization for recent changes in keyframe selection
authorSergey Sharybin <sergey.vfx@gmail.com>
Tue, 1 Oct 2013 14:55:34 +0000 (14:55 +0000)
committerSergey Sharybin <sergey.vfx@gmail.com>
Tue, 1 Oct 2013 14:55:34 +0000 (14:55 +0000)
extern/libmv/libmv/simple_pipeline/keyframe_selection.cc

index 299d48d35fd76b37e41e5f358d4290dfc20eca9a..d4ddee56fda4cd3ff641e750bb9d6abe4563c21f 100644 (file)
@@ -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