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Commit 40e7990b authored by Alexey Spizhevoy's avatar Alexey Spizhevoy
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Added linear programming based stabilizer (videostab)

parent c4af8504
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Showing with 114 additions and 52 deletions
modules/videostab/include/opencv2/videostab/global_motion.hpp
View file @ 40e7990b
......@@ -57,16 +57,16 @@ namespace videostab
enum MotionModel
{
TRANSLATION = 0,
TRANSLATION_AND_SCALE = 1,
LINEAR_SIMILARITY = 2,
AFFINE = 3,
HOMOGRAPHY = 4,
UNKNOWN = 5
MM_TRANSLATION = 0,
MM_TRANSLATION_AND_SCALE = 1,
MM_LINEAR_SIMILARITY = 2,
MM_AFFINE = 3,
MM_HOMOGRAPHY = 4,
MM_UNKNOWN = 5
};
CV_EXPORTS Mat estimateGlobalMotionLeastSquares(
int npoints, Point2f *points0, Point2f *points1, int model = AFFINE, float *rmse = 0);
int npoints, Point2f *points0, Point2f *points1, int model = MM_AFFINE, float *rmse = 0);
struct CV_EXPORTS RansacParams
{
......@@ -81,14 +81,14 @@ struct CV_EXPORTS RansacParams
static RansacParams default2dMotion(MotionModel model)
{
CV_Assert(model < UNKNOWN);
if (model == TRANSLATION)
CV_Assert(model < MM_UNKNOWN);
if (model == MM_TRANSLATION)
return RansacParams(1, 0.5f, 0.5f, 0.99f);
if (model == TRANSLATION_AND_SCALE)
if (model == MM_TRANSLATION_AND_SCALE)
return RansacParams(2, 0.5f, 0.5f, 0.99f);
if (model == LINEAR_SIMILARITY)
if (model == MM_LINEAR_SIMILARITY)
return RansacParams(2, 0.5f, 0.5f, 0.99f);
if (model == AFFINE)
if (model == MM_AFFINE)
return RansacParams(3, 0.5f, 0.5f, 0.99f);
return RansacParams(4, 0.5f, 0.5f, 0.99f);
}
......@@ -96,13 +96,13 @@ struct CV_EXPORTS RansacParams
CV_EXPORTS Mat estimateGlobalMotionRobust(
const std::vector<Point2f> &points0, const std::vector<Point2f> &points1,
int model = AFFINE, const RansacParams &params = RansacParams::default2dMotion(AFFINE),
int model = MM_AFFINE, const RansacParams &params = RansacParams::default2dMotion(MM_AFFINE),
float *rmse = 0, int *ninliers = 0);
class CV_EXPORTS GlobalMotionEstimatorBase
{
public:
GlobalMotionEstimatorBase() : motionModel_(UNKNOWN) {}
GlobalMotionEstimatorBase() : motionModel_(MM_UNKNOWN) {}
virtual ~GlobalMotionEstimatorBase() {}
virtual void setMotionModel(MotionModel val) { motionModel_ = val; }
......@@ -138,7 +138,7 @@ private:
class CV_EXPORTS PyrLkRobustMotionEstimator : public GlobalMotionEstimatorBase
{
public:
PyrLkRobustMotionEstimator(MotionModel model = AFFINE);
PyrLkRobustMotionEstimator(MotionModel model = MM_AFFINE);
void setDetector(Ptr<FeatureDetector> val) { detector_ = val; }
Ptr<FeatureDetector> detector() const { return detector_; }
......
modules/videostab/include/opencv2/videostab/inpainting.hpp
View file @ 40e7990b
......@@ -59,7 +59,7 @@ class CV_EXPORTS InpainterBase
{
public:
InpainterBase()
: radius_(0), motionModel_(UNKNOWN), frames_(0), motions_(0),
: radius_(0), motionModel_(MM_UNKNOWN), frames_(0), motions_(0),
stabilizedFrames_(0), stabilizationMotions_(0) {}
virtual ~InpainterBase() {}
......
modules/videostab/include/opencv2/videostab/motion_stabilizing.hpp
View file @ 40e7990b
......@@ -61,7 +61,7 @@ public:
// assumes that [0, size-1) is in or equals to [range.first, range.second)
virtual void stabilize(
int size, const std::vector<Mat> &motions, std::pair<int,int> range,
Mat *stabilizationMotions) const = 0;
Mat *stabilizationMotions) = 0;
};
class CV_EXPORTS MotionStabilizationPipeline : public IMotionStabilizer
......@@ -72,7 +72,7 @@ public:
virtual void stabilize(
int size, const std::vector<Mat> &motions, std::pair<int,int> range,
Mat *stabilizationMotions) const;
Mat *stabilizationMotions);
private:
std::vector<Ptr<IMotionStabilizer> > stabilizers_;
......@@ -84,11 +84,11 @@ public:
virtual ~MotionFilterBase() {}
virtual Mat stabilize(
int idx, const std::vector<Mat> &motions, std::pair<int,int> range) const = 0;
int idx, const std::vector<Mat> &motions, std::pair<int,int> range) = 0;
virtual void stabilize(
int size, const std::vector<Mat> &motions, std::pair<int,int> range,
Mat *stabilizationMotions) const;
Mat *stabilizationMotions);
};
class CV_EXPORTS GaussianMotionFilter : public MotionFilterBase
......@@ -101,7 +101,7 @@ public:
float stdev() const { return stdev_; }
virtual Mat stabilize(
int idx, const std::vector<Mat> &motions, std::pair<int,int> range) const;
int idx, const std::vector<Mat> &motions, std::pair<int,int> range);
private:
int radius_;
......@@ -112,17 +112,49 @@ private:
class CV_EXPORTS LpMotionStabilizer : public IMotionStabilizer
{
public:
LpMotionStabilizer(MotionModel model = LINEAR_SIMILARITY);
LpMotionStabilizer(MotionModel model = MM_LINEAR_SIMILARITY);
void setMotionModel(MotionModel val) { model_ = val; }
MotionModel motionModel() const { return model_; }
void setFrameSize(Size val) { frameSize_ = val; }
Size frameSize() const { return frameSize_; }
void setTrimRatio(float val) { trimRatio_ = val; }
float trimRatio() const { return trimRatio_; }
void setWeight1(float val) { w1_ = val; }
float weight1() const { return w1_; }
void setWeight2(float val) { w2_ = val; }
float weight2() const { return w2_; }
void setWeight3(float val) { w3_ = val; }
float weight3() const { return w3_; }
void setWeight4(float val) { w4_ = val; }
float weight4() const { return w4_; }
virtual void stabilize(
int size, const std::vector<Mat> &motions, std::pair<int,int> range,
Mat *stabilizationMotions) const;
Mat *stabilizationMotions);
private:
MotionModel model_;
Size frameSize_;
float trimRatio_;
float w1_, w2_, w3_, w4_;
std::vector<double> obj_, collb_, colub_;
std::vector<int> rows_, cols_;
std::vector<double> elems_, rowlb_, rowub_;
void set(int row, int col, double coef)
{
rows_.push_back(row);
cols_.push_back(col);
elems_.push_back(coef);
}
};
CV_EXPORTS Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio);
......
modules/videostab/src/global_motion.cpp
View file @ 40e7990b
......@@ -228,7 +228,7 @@ static Mat estimateGlobMotionLeastSquaresAffine(
Mat estimateGlobalMotionLeastSquares(
int npoints, Point2f *points0, Point2f *points1, int model, float *rmse)
{
CV_Assert(model <= AFFINE);
CV_Assert(model <= MM_AFFINE);
typedef Mat (*Impl)(int, Point2f*, Point2f*, float*);
static Impl impls[] = { estimateGlobMotionLeastSquaresTranslation,
......@@ -244,7 +244,7 @@ Mat estimateGlobalMotionRobust(
const vector<Point2f> &points0, const vector<Point2f> &points1, int model,
const RansacParams &params, float *rmse, int *ninliers)
{
CV_Assert(model <= AFFINE);
CV_Assert(model <= MM_AFFINE);
CV_Assert(points0.size() == points1.size());
const int npoints = static_cast<int>(points0.size());
......@@ -436,7 +436,7 @@ Mat PyrLkRobustMotionEstimator::estimate(const Mat &frame0, const Mat &frame1, b
int ninliers;
Mat_<float> M;
if (motionModel_ != HOMOGRAPHY)
if (motionModel_ != MM_HOMOGRAPHY)
M = estimateGlobalMotionRobust(
pointsPrevGood_, pointsGood_, motionModel_, ransacParams_, &rmse, &ninliers);
else
......
modules/videostab/src/inpainting.cpp
View file @ 40e7990b
......@@ -375,7 +375,7 @@ void MotionInpainter::inpaint(int idx, Mat &frame, Mat &mask)
frame1_ = at(neighbor, *frames_);
if (motionModel_ != HOMOGRAPHY)
if (motionModel_ != MM_HOMOGRAPHY)
warpAffine(
frame1_, transformedFrame1_, motion1to0(Rect(0,0,3,2)), frame1_.size(),
INTER_LINEAR, borderMode_);
......@@ -388,7 +388,7 @@ void MotionInpainter::inpaint(int idx, Mat &frame, Mat &mask)
// warp mask
if (motionModel_ != HOMOGRAPHY)
if (motionModel_ != MM_HOMOGRAPHY)
warpAffine(
mask1_, transformedMask1_, motion1to0(Rect(0,0,3,2)), mask1_.size(),
INTER_NEAREST);
......
modules/videostab/src/stabilizer.cpp
View file @ 40e7990b
......@@ -194,7 +194,7 @@ void StabilizerBase::stabilizeFrame()
// apply stabilization transformation
if (motionEstimator_->motionModel() != HOMOGRAPHY)
if (motionEstimator_->motionModel() != MM_HOMOGRAPHY)
warpAffine(
preProcessedFrame_, at(curStabilizedPos_, stabilizedFrames_),
stabilizationMotion(Rect(0,0,3,2)), frameSize_, INTER_LINEAR, borderMode_);
......@@ -205,7 +205,7 @@ void StabilizerBase::stabilizeFrame()
if (doInpainting_)
{
if (motionEstimator_->motionModel() != HOMOGRAPHY)
if (motionEstimator_->motionModel() != MM_HOMOGRAPHY)
warpAffine(
frameMask_, at(curStabilizedPos_, stabilizedMasks_),
stabilizationMotion(Rect(0,0,3,2)), frameSize_, INTER_NEAREST);
......
modules/videostab/src/wobble_suppression.cpp
View file @ 40e7990b
......@@ -54,8 +54,8 @@ namespace videostab
WobbleSuppressorBase::WobbleSuppressorBase() : motions_(0), stabilizationMotions_(0)
{
PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator();
est->setMotionModel(HOMOGRAPHY);
est->setRansacParams(RansacParams::default2dMotion(HOMOGRAPHY));
est->setMotionModel(MM_HOMOGRAPHY);
est->setRansacParams(RansacParams::default2dMotion(MM_HOMOGRAPHY));
setMotionEstimator(est);
}
......
samples/cpp/videostab.cpp
View file @ 40e7990b
......@@ -86,6 +86,18 @@ void printHelp()
" --stdev=(<float_number>|auto)\n"
" Set smoothing weights standard deviation. The default is auto\n"
" (i.e. sqrt(radius)).\n"
" -lp, --lp-stab=(yes|no)\n"
" Turn on/off linear programming based stabilization method.\n"
" --lp-trim-ratio=(<float_number>|auto)\n"
" Trimming ratio used in linear programming based method.\n"
" --lp-w1=(<float_number>|1)\n"
" 1st derivative weight. The default is 1.\n"
" --lp-w2=(<float_number>|10)\n"
" 2nd derivative weight. The default is 10.\n"
" --lp-w3=(<float_number>|100)\n"
" 3rd derivative weight. The default is 100.\n"
" --lp-w4=(<float_number>|100)\n"
" Non-translation motion components weight. The default is 100.\n\n"
" --deblur=(yes|no)\n"
" Do deblurring.\n"
" --deblur-sens=<float_number>\n"
......@@ -160,6 +172,12 @@ int main(int argc, const char **argv)
"{ lm | load-motions | no | }"
"{ r | radius | 15 | }"
"{ | stdev | auto | }"
"{ lp | lp-stab | no | }"
"{ | lp-trim-ratio | auto | }"
"{ | lp-w1 | 1 | }"
"{ | lp-w2 | 10 | }"
"{ | lp-w3 | 100 | }"
"{ | lp-w4 | 100 | }"
"{ | deblur | no | }"
"{ | deblur-sens | 0.1 | }"
"{ et | est-trim | yes | }"
......@@ -194,19 +212,37 @@ int main(int argc, const char **argv)
{
printHelp();
return 0;
}
}
string inputPath = arg("1");
if (inputPath.empty()) throw runtime_error("specify video file path");
VideoFileSource *source = new VideoFileSource(inputPath);
cout << "frame count (rough): " << source->count() << endl;
if (arg("fps") == "auto") outputFps = source->fps(); else outputFps = argd("fps");
StabilizerBase *stabilizer;
bool isTwoPass =
arg("est-trim") == "yes" || arg("wobble-suppress") == "yes";
arg("est-trim") == "yes" || arg("wobble-suppress") == "yes" || arg("lp-stab") == "yes";
if (isTwoPass)
{
TwoPassStabilizer *twoPassStabilizer = new TwoPassStabilizer();
stabilizer = twoPassStabilizer;
twoPassStabilizer->setEstimateTrimRatio(arg("est-trim") == "yes");
if (arg("stdev") == "auto")
if (arg("lp-stab") == "yes")
{
LpMotionStabilizer *stab = new LpMotionStabilizer();
stab->setFrameSize(Size(source->width(), source->height()));
stab->setTrimRatio(arg("lp-trim-ratio") == "auto" ? argf("trim-ratio") : argf("lp-trim-ratio"));
stab->setWeight1(argf("lp-w1"));
stab->setWeight2(argf("lp-w2"));
stab->setWeight3(argf("lp-w3"));
stab->setWeight4(argf("lp-w4"));
twoPassStabilizer->setMotionStabilizer(stab);
}
else if (arg("stdev") == "auto")
twoPassStabilizer->setMotionStabilizer(new GaussianMotionFilter(argi("radius")));
else
twoPassStabilizer->setMotionStabilizer(new GaussianMotionFilter(argi("radius"), argf("stdev")));
......@@ -219,15 +255,15 @@ int main(int argc, const char **argv)
PyrLkRobustMotionEstimator *est = 0;
if (arg("ws-model") == "transl")
est = new PyrLkRobustMotionEstimator(TRANSLATION);
est = new PyrLkRobustMotionEstimator(MM_TRANSLATION);
else if (arg("ws-model") == "transl_and_scale")
est = new PyrLkRobustMotionEstimator(TRANSLATION_AND_SCALE);
est = new PyrLkRobustMotionEstimator(MM_TRANSLATION_AND_SCALE);
else if (arg("ws-model") == "linear_sim")
est = new PyrLkRobustMotionEstimator(LINEAR_SIMILARITY);
est = new PyrLkRobustMotionEstimator(MM_LINEAR_SIMILARITY);
else if (arg("ws-model") == "affine")
est = new PyrLkRobustMotionEstimator(AFFINE);
est = new PyrLkRobustMotionEstimator(MM_AFFINE);
else if (arg("ws-model") == "homography")
est = new PyrLkRobustMotionEstimator(HOMOGRAPHY);
est = new PyrLkRobustMotionEstimator(MM_HOMOGRAPHY);
else
{
delete est;
......@@ -266,28 +302,22 @@ int main(int argc, const char **argv)
else
onePassStabilizer->setMotionFilter(new GaussianMotionFilter(argi("radius"), argf("stdev")));
}
stabilizedFrames = dynamic_cast<IFrameSource*>(stabilizer);
string inputPath = arg("1");
if (inputPath.empty()) throw runtime_error("specify video file path");
VideoFileSource *source = new VideoFileSource(inputPath);
cout << "frame count (rough): " << source->count() << endl;
if (arg("fps") == "auto") outputFps = source->fps(); else outputFps = argd("fps");
stabilizer->setFrameSource(source);
stabilizedFrames = dynamic_cast<IFrameSource*>(stabilizer);
PyrLkRobustMotionEstimator *est = 0;
if (arg("model") == "transl")
est = new PyrLkRobustMotionEstimator(TRANSLATION);
est = new PyrLkRobustMotionEstimator(MM_TRANSLATION);
else if (arg("model") == "transl_and_scale")
est = new PyrLkRobustMotionEstimator(TRANSLATION_AND_SCALE);
est = new PyrLkRobustMotionEstimator(MM_TRANSLATION_AND_SCALE);
else if (arg("model") == "linear_sim")
est = new PyrLkRobustMotionEstimator(LINEAR_SIMILARITY);
est = new PyrLkRobustMotionEstimator(MM_LINEAR_SIMILARITY);
else if (arg("model") == "affine")
est = new PyrLkRobustMotionEstimator(AFFINE);
est = new PyrLkRobustMotionEstimator(MM_AFFINE);
else if (arg("model") == "homography")
est = new PyrLkRobustMotionEstimator(HOMOGRAPHY);
est = new PyrLkRobustMotionEstimator(MM_HOMOGRAPHY);
else
{
delete est;
......
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