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ch3_panorama now runs in less than 1 minute, instead of > 8min (after which I killed it). The output should be the same as before. Do this by doing the perspective image mapping using PIL instead of scipy. Also fix a FIXME about x and y being swapped (since this wasn't mentioned in the bug, this was pretty confusing to me), since that's no longer necessary.
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Since you're accepting pull requests, here's another one :-)
Your ch3_panorama.py took more than 8 minutes to run (after which I killed it). My version runs in 3 seconds. This was by far the biggest win.
If you're interested in further speedups, feel free to look at https://github.com/nico/cvbook/commits/master (nico/cvbook@349b236 and nico/cvbook@31a56c3 are simple and effective for example.