Fits small cameras

src/measure_overlap.cpp

@@ -16,12 +16,23 @@ int main(int argc, char** argv) {
         cv::resize(a, a, {}, scale, scale, cv::INTER_AREA);
         cv::resize(b, b, {}, scale, scale, cv::INTER_AREA);
     }
+    cv::Mat af, bf, window;
+    a.convertTo(af, CV_32F);
+    b.convertTo(bf, CV_32F);
+    cv::createHanningWindow(window, a.size(), CV_32F);
+    double phase_response = 0.0;
+    const cv::Point2d phase = cv::phaseCorrelate(af, bf, window, &phase_response);
+    const double phase_dx = phase.x / a.cols;
+    const double phase_dy = phase.y / a.rows;
+
     auto orb = cv::ORB::create(2500, 1.2f, 8, 31, 0, 2, cv::ORB::HARRIS_SCORE, 31, 8);
     std::vector<cv::KeyPoint> ka, kb; cv::Mat da, db;
     orb->detectAndCompute(a, {}, ka, da);
     orb->detectAndCompute(b, {}, kb, db);
     if (da.empty() || db.empty()) {
-        std::cout << "{\"valid\":false,\"reason\":\"not_enough_features\",\"overlap\":0}\n";
+        std::cout << "{\"valid\":false,\"reason\":\"not_enough_features\",\"overlap\":0"
+                  << ",\"phase_dx\":" << phase_dx << ",\"phase_dy\":" << phase_dy
+                  << ",\"phase_response\":" << phase_response << "}\n";
         return 0;
     }
     std::vector<std::vector<cv::DMatch>> knn;
@@ -31,7 +42,9 @@ int main(int argc, char** argv) {
         if (pair.size() == 2 && pair[0].distance < 0.75f * pair[1].distance) good.push_back(pair[0]);
     if (good.size() < 8) {
         std::cout << "{\"valid\":false,\"reason\":\"not_enough_matches\",\"good_matches\":"
-                  << good.size() << ",\"overlap\":0}\n";
+                  << good.size() << ",\"overlap\":0"
+                  << ",\"phase_dx\":" << phase_dx << ",\"phase_dy\":" << phase_dy
+                  << ",\"phase_response\":" << phase_response << "}\n";
         return 0;
     }
     std::vector<cv::Point2f> pa, pb;
@@ -43,7 +56,9 @@ int main(int argc, char** argv) {
     if (h.empty() || inliers < 50 || inlier_ratio < 0.45) {
         std::cout << "{\"valid\":false,\"reason\":\"homography_failed\",\"good_matches\":"
                   << good.size() << ",\"inliers\":" << inliers
-                  << ",\"inlier_ratio\":" << inlier_ratio << ",\"overlap\":0}\n";
+                  << ",\"inlier_ratio\":" << inlier_ratio << ",\"overlap\":0"
+                  << ",\"phase_dx\":" << phase_dx << ",\"phase_dy\":" << phase_dy
+                  << ",\"phase_response\":" << phase_response << "}\n";
         return 0;
     }
 
@@ -63,6 +78,8 @@ int main(int argc, char** argv) {
               << ",\"good_matches\":" << good.size()
               << ",\"inliers\":" << inliers
               << ",\"inlier_ratio\":" << inlier_ratio
-              << ",\"center_dx\":" << dx << ",\"center_dy\":" << dy << "}\n";
+              << ",\"center_dx\":" << dx << ",\"center_dy\":" << dy
+              << ",\"phase_dx\":" << phase_dx << ",\"phase_dy\":" << phase_dy
+              << ",\"phase_response\":" << phase_response << "}\n";
     return 0;
 }