namespace videostab
{
-WobbleSuppressorBase::WobbleSuppressorBase()
- : motions_(0), stabilizationMotions_(0)
+WobbleSuppressorBase::WobbleSuppressorBase() : motions_(0), stabilizationMotions_(0)
{
PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator();
est->setMotionModel(HOMOGRAPHY);
}
+MoreAccurateMotionWobbleSuppressor::MoreAccurateMotionWobbleSuppressor()
+{
+ setPeriod(30);
+}
+
+
void MoreAccurateMotionWobbleSuppressor::suppress(int idx, const Mat &frame, Mat &result)
{
CV_Assert(motions_ && stabilizationMotions_);
- // TODO implement
- CV_Error(CV_StsNotImplemented, "MoreAccurateMotionWobbleSuppressor");
+ if (idx % period_ == 0)
+ {
+ result = frame;
+ return;
+ }
- result = frame;
+ int k1 = idx / period_ * period_;
+ int k2 = std::min(k1 + period_, frameCount_ - 1);
+
+ Mat S1 = (*stabilizationMotions_)[idx];
+
+ Mat_<float> ML = S1 * getMotion(k1, idx, *motions2_) * getMotion(k1, idx, *motions_).inv() * S1.inv();
+ Mat_<float> MR = S1 * getMotion(idx, k2, *motions2_).inv() * getMotion(idx, k2, *motions_) * S1.inv();
+
+ mapx_.create(frame.size());
+ mapy_.create(frame.size());
+
+ float xl, yl, zl, wl;
+ float xr, yr, zr, wr;
+
+ for (int y = 0; y < frame.rows; ++y)
+ {
+ for (int x = 0; x < frame.cols; ++x)
+ {
+ xl = ML(0,0)*x + ML(0,1)*y + ML(0,2);
+ yl = ML(1,0)*x + ML(1,1)*y + ML(1,2);
+ zl = ML(2,0)*x + ML(2,1)*y + ML(2,2);
+ xl /= zl; yl /= zl;
+ wl = 1.f / (sqrt(sqr(x - xl) + sqr(y - yl)) + 1e-5f);
+
+ xr = MR(0,0)*x + MR(0,1)*y + MR(0,2);
+ yr = MR(1,0)*x + MR(1,1)*y + MR(1,2);
+ zr = MR(2,0)*x + MR(2,1)*y + MR(2,2);
+ xr /= zr; yr /= zr;
+ wr = 1.f / (sqrt(sqr(x - xr) + sqr(y - yr)) + 1e-5f);
+
+ mapx_(y,x) = (wl * xl + wr * xr) / (wl + wr);
+ mapy_(y,x) = (wl * yl + wr * yr) / (wl + wr);
+ }
+ }
+
+ if (result.data == frame.data)
+ result = Mat(frame.size(), frame.type());
+
+ remap(frame, result, mapx_, mapy_, INTER_LINEAR);
}
} // namespace videostab
" --min-inlier-ratio=<float_number>\n"
" Minimum inlier ratio to decide if estimated motion is OK. The default is 0.1,\n"
" but you may want to increase it.\n\n"
- " --save-motions=(<file_path>|no)\n"
+ " -sm, --save-motions=(<file_path>|no)\n"
" Save estimated motions into file. The default is no.\n"
- " --load-motions=(<file_path>|no)\n"
+ " -lm, --load-motions=(<file_path>|no)\n"
" Load motions from file. The default is no.\n\n"
" -r, --radius=<int_number>\n"
" Set sliding window radius. The default is 15.\n"
" --stdev=(<float_number>|auto)\n"
- " Set smoothing weights standard deviation. The default is sqrt(radius),\n"
- " i.e. auto.\n\n"
+ " Set smoothing weights standard deviation. The default is auto\n"
+ " (i.e. sqrt(radius)).\n"
" --deblur=(yes|no)\n"
" Do deblurring.\n"
" --deblur-sens=<float_number>\n"
" Set deblurring sensitivity (from 0 to +inf). The default is 0.1.\n\n"
" -t, --trim-ratio=<float_number>\n"
" Set trimming ratio (from 0 to 0.5). The default is 0.1.\n"
- " --est-trim=(yes|no)\n"
- " Estimate trim ratio automatically. The default is yes (that leads to two passes,\n"
- " you can turn it off if you want to use one pass only).\n"
- " --incl-constr=(yes|no)\n"
+ " -et, --est-trim=(yes|no)\n"
+ " Estimate trim ratio automatically. The default is yes.\n"
+ " -ic, --incl-constr=(yes|no)\n"
" Ensure the inclusion constraint is always satisfied. The default is no.\n\n"
- " --border-mode=(replicate|reflect|const)\n"
+ " -bm, --border-mode=(replicate|reflect|const)\n"
" Set border extrapolation mode. The default is replicate.\n\n"
" --mosaic=(yes|no)\n"
" Do consistent mosaicing. The default is no.\n"
" --mosaic-stdev=<float_number>\n"
" Consistent mosaicing stdev threshold. The default is 10.0.\n\n"
- " --motion-inpaint=(yes|no)\n"
+ " -mi, --motion-inpaint=(yes|no)\n"
" Do motion inpainting (requires GPU support). The default is no.\n"
- " --dist-thresh=<float_number>\n"
+ " --mi-dist-thresh=<float_number>\n"
" Estimated flow distance threshold for motion inpainting. The default is 5.0.\n\n"
- " --color-inpaint=(no|average|ns|telea)\n"
+ " -ci, --color-inpaint=(no|average|ns|telea)\n"
" Do color inpainting. The defailt is no.\n"
- " --color-inpaint-radius=<float_number>\n"
+ " --ci-radius=<float_number>\n"
" Set color inpainting radius (for ns and telea options only).\n"
" The default is 2.0\n\n"
- " --wobble-suppress=(yes|no)\n"
- " Perform wobble suppression. The default is no.\n\n"
+ " -ws, --wobble-suppress=(yes|no)\n"
+ " Perform wobble suppression. The default is no.\n"
+ " --ws-period=<int_number>\n"
+ " Set wobble suppression period. The default is 30.\n"
+ " --ws-model=(transl|transl_and_scale|linear_sim|affine|homography)\n"
+ " Set wobble suppression motion model (must have more DOF than motion \n"
+ " estimation model). The default is homography.\n"
+ " -sm2, --save-motions2=(<file_path>|no)\n"
+ " Save motions estimated for wobble suppression. The default is no.\n"
+ " -lm2, --load-motions2=(<file_path>|no)\n"
+ " Load motions for wobble suppression from file. The default is no.\n\n"
" -o, --output=(no|<file_path>)\n"
" Set output file path explicitely. The default is stabilized.avi.\n"
- " --fps=(<int_number>|auto)\n"
- " Set output video FPS explicitely. By default the source FPS is used.\n"
+ " --fps=(<float_number>|auto)\n"
+ " Set output video FPS explicitely. By default the source FPS is used (auto).\n"
" -q, --quiet\n"
" Don't show output video frames.\n\n"
" -h, --help\n"
- " Print help.\n"
- "\n";
+ " Print help.\n\n"
+ "Note: some argument configurations lead to two passes, some to single pass.\n\n";
}
"{ m | model | affine| }"
"{ | min-inlier-ratio | 0.1 | }"
"{ | outlier-ratio | 0.5 | }"
- "{ | save-motions | no | }"
- "{ | load-motions | no | }"
+ "{ sm | save-motions | no | }"
+ "{ lm | load-motions | no | }"
"{ r | radius | 15 | }"
"{ | stdev | auto | }"
"{ | deblur | no | }"
"{ | deblur-sens | 0.1 | }"
- "{ | est-trim | yes | }"
+ "{ et | est-trim | yes | }"
"{ t | trim-ratio | 0.1 | }"
- "{ | incl-constr | no | }"
- "{ | border-mode | replicate | }"
+ "{ ic | incl-constr | no | }"
+ "{ bm | border-mode | replicate | }"
"{ | mosaic | no | }"
- "{ | mosaic-stdev | 10.0 | }"
- "{ | motion-inpaint | no | }"
- "{ | dist-thresh | 5.0 | }"
- "{ | color-inpaint | no | }"
- "{ | color-inpaint-radius | 2 | }"
- "{ | wobble-suppress | no | }"
+ "{ ms | mosaic-stdev | 10.0 | }"
+ "{ mi | motion-inpaint | no | }"
+ "{ | mi-dist-thresh | 5.0 | }"
+ "{ ci | color-inpaint | no | }"
+ "{ | ci-radius | 2 | }"
+ "{ ws | wobble-suppress | no | }"
+ "{ | ws-period | 30 | }"
+ "{ | ws-model | homography | }"
+ "{ sm2 | save-motions2 | no | }"
+ "{ lm2 | load-motions2 | no | }"
"{ o | output | stabilized.avi | }"
"{ | fps | auto | }"
"{ q | quiet | false | }"
twoPassStabilizer->setMotionStabilizer(new GaussianMotionFilter(argi("radius"), argf("stdev")));
if (arg("wobble-suppress") == "yes")
{
- twoPassStabilizer->setWobbleSuppressor(new MoreAccurateMotionWobbleSuppressor());
- if (arg("load-motions") != "no")
- twoPassStabilizer->wobbleSuppressor()->setMotionEstimator(
- new FromFileMotionReader("motions2." + arg("load-motions")));
- if (arg("save-motions") != "no")
+ MoreAccurateMotionWobbleSuppressor *ws = new MoreAccurateMotionWobbleSuppressor();
+ twoPassStabilizer->setWobbleSuppressor(ws);
+ ws->setPeriod(argi("ws-period"));
+ if (arg("ws-model") == "transl")
+ ws->setMotionEstimator(new PyrLkRobustMotionEstimator(TRANSLATION));
+ else if (arg("ws-model") == "transl_and_scale")
+ ws->setMotionEstimator(new PyrLkRobustMotionEstimator(TRANSLATION_AND_SCALE));
+ else if (arg("ws-model") == "linear_sim")
+ ws->setMotionEstimator(new PyrLkRobustMotionEstimator(LINEAR_SIMILARITY));
+ else if (arg("ws-model") == "affine")
+ ws->setMotionEstimator(new PyrLkRobustMotionEstimator(AFFINE));
+ else if (arg("ws-model") == "homography")
+ ws->setMotionEstimator(new PyrLkRobustMotionEstimator(HOMOGRAPHY));
+ else
+ throw runtime_error("unknown wobble suppression motion model: " + arg("ws-model"));
+ if (arg("load-motions2") != "no")
+ ws->setMotionEstimator(new FromFileMotionReader(arg("load-motions2")));
+ if (arg("save-motions2") != "no")
{
- Ptr<GlobalMotionEstimatorBase> est = twoPassStabilizer->wobbleSuppressor()->motionEstimator();
- twoPassStabilizer->wobbleSuppressor()->setMotionEstimator(
- new ToFileMotionWriter("motions2." + arg("save-motions"), est));
+ Ptr<GlobalMotionEstimatorBase> est = ws->motionEstimator();
+ ws->setMotionEstimator(new ToFileMotionWriter(arg("save-motions2"), est));
}
}
}
stabilizer->setFrameSource(source);
if (arg("load-motions") == "no")
- {
- RansacParams ransac;
- PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator();
- Ptr<GlobalMotionEstimatorBase> est_(est);
+ {
+ PyrLkRobustMotionEstimator *est = 0;
if (arg("model") == "transl")
- {
- est->setMotionModel(TRANSLATION);
- ransac = RansacParams::translation2dMotionStd();
- }
+ est = new PyrLkRobustMotionEstimator(TRANSLATION);
else if (arg("model") == "transl_and_scale")
- {
- est->setMotionModel(TRANSLATION_AND_SCALE);
- ransac = RansacParams::translationAndScale2dMotionStd();
- }
+ est = new PyrLkRobustMotionEstimator(TRANSLATION_AND_SCALE);
else if (arg("model") == "linear_sim")
- {
- est->setMotionModel(LINEAR_SIMILARITY);
- ransac = RansacParams::linearSimilarity2dMotionStd();
- }
+ est = new PyrLkRobustMotionEstimator(LINEAR_SIMILARITY);
else if (arg("model") == "affine")
- {
- est->setMotionModel(AFFINE);
- ransac = RansacParams::affine2dMotionStd();
- }
+ est = new PyrLkRobustMotionEstimator(AFFINE);
else
+ {
+ delete est;
throw runtime_error("unknown motion model: " + arg("model"));
+ }
+ RansacParams ransac = est->ransacParams();
ransac.eps = argf("outlier-ratio");
est->setRansacParams(ransac);
est->setMinInlierRatio(argf("min-inlier-ratio"));
- stabilizer->setMotionEstimator(est_);
+ stabilizer->setMotionEstimator(est);
}
else
- stabilizer->setMotionEstimator(new FromFileMotionReader("motions." + arg("load-motions")));
+ stabilizer->setMotionEstimator(new FromFileMotionReader(arg("load-motions")));
if (arg("save-motions") != "no")
stabilizer->setMotionEstimator(
- new ToFileMotionWriter("motions." + arg("save-motions"), stabilizer->motionEstimator()));
+ new ToFileMotionWriter(arg("save-motions"), stabilizer->motionEstimator()));
stabilizer->setRadius(argi("radius"));
if (arg("deblur") == "yes")
if (arg("motion-inpaint") == "yes")
{
MotionInpainter *inp = new MotionInpainter();
- inp->setDistThreshold(argf("dist-thresh"));
+ inp->setDistThreshold(argf("mi-dist-thresh"));
inpainters->pushBack(inp);
}
if (arg("color-inpaint") == "average")
inpainters->pushBack(new ColorAverageInpainter());
else if (arg("color-inpaint") == "ns")
- inpainters->pushBack(new ColorInpainter(INPAINT_NS, argd("color-inpaint-radius")));
+ inpainters->pushBack(new ColorInpainter(INPAINT_NS, argd("ci-radius")));
else if (arg("color-inpaint") == "telea")
- inpainters->pushBack(new ColorInpainter(INPAINT_TELEA, argd("color-inpaint-radius")));
+ inpainters->pushBack(new ColorInpainter(INPAINT_TELEA, argd("ci-radius")));
else if (arg("color-inpaint") != "no")
throw runtime_error("unknown color inpainting method: " + arg("color-inpaint"));
if (!inpainters->empty())