A good rule of thumb to minimise camera shake is to set the shutter speed at a minimum of one second divided by your focal length.
测算你相机的安全快门速度有一个好的方法，你相机镜头焦距的倒数，就是你避免镜头抖动的快门最小值。
For the first shot he used a shorter focal length and the second shot he used a longer one.
先前的一张焦距短，第二张他用了长焦。
Second, for robust estimation of camera parameter, we take into account overall color change and focal length adjustment between overlap images.
另外为了对图像进行可靠的拼接，演算法根据普通数字相机的特性，考虑了图像整体色彩变化与焦距调整。
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