generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Refactored videostab module

Browse Source
This commit is contained in:
Alexey Spizhevoy
2012-04-17 09:12:14 +00:00
parent 2bfaf540a1
commit 19c30eaa11
5 changed files with 205 additions and 162 deletions
Download Patch File Download Diff File Expand all files Collapse all files

317
modules/videostab/src/motion_stabilizing.cpp
View File

@@ -136,139 +136,6 @@ Mat GaussianMotionFilter::stabilize(int idx, const vector<Mat> &motions, pair<in
}
static inline int areaSign(Point2f a, Point2f b, Point2f c)
{
double area = (b-a).cross(c-a);
if (area < -1e-5) return -1;
if (area > 1e-5) return 1;
return 0;
}
static inline bool segmentsIntersect(Point2f a, Point2f b, Point2f c, Point2f d)
{
return areaSign(a,b,c) * areaSign(a,b,d) < 0 &&
areaSign(c,d,a) * areaSign(c,d,b) < 0;
}
// Checks if rect a (with sides parallel to axis) is inside rect b (arbitrary).
// Rects must be passed in the [(0,0), (w,0), (w,h), (0,h)] order.
static inline bool isRectInside(const Point2f a[4], const Point2f b[4])
{
for (int i = 0; i < 4; ++i)
if (b[i].x > a[0].x && b[i].x < a[2].x && b[i].y > a[0].y && b[i].y < a[2].y)
return false;
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 4; ++j)
if (segmentsIntersect(a[i], a[(i+1)%4], b[j], b[(j+1)%4]))
return false;
return true;
}
static inline bool isGoodMotion(const float M[], float w, float h, float dx, float dy)
{
Point2f pt[4] = {Point2f(0,0), Point2f(w,0), Point2f(w,h), Point2f(0,h)};
Point2f Mpt[4];
for (int i = 0; i < 4; ++i)
{
Mpt[i].x = M[0]*pt[i].x + M[1]*pt[i].y + M[2];
Mpt[i].y = M[3]*pt[i].x + M[4]*pt[i].y + M[5];
}
pt[0] = Point2f(dx, dy);
pt[1] = Point2f(w - dx, dy);
pt[2] = Point2f(w - dx, h - dy);
pt[3] = Point2f(dx, h - dy);
return isRectInside(pt, Mpt);
}
static inline void relaxMotion(const float M[], float t, float res[])
{
res[0] = M[0]*(1.f-t) + t;
res[1] = M[1]*(1.f-t);
res[2] = M[2]*(1.f-t);
res[3] = M[3]*(1.f-t);
res[4] = M[4]*(1.f-t) + t;
res[5] = M[5]*(1.f-t);
}
Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio)
{
CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F);
const float w = static_cast<float>(size.width);
const float h = static_cast<float>(size.height);
const float dx = floor(w * trimRatio);
const float dy = floor(h * trimRatio);
const float srcM[6] =
{M.at<float>(0,0), M.at<float>(0,1), M.at<float>(0,2),
M.at<float>(1,0), M.at<float>(1,1), M.at<float>(1,2)};
float curM[6];
float t = 0;
relaxMotion(srcM, t, curM);
if (isGoodMotion(curM, w, h, dx, dy))
return M;
float l = 0, r = 1;
while (r - l > 1e-3f)
{
t = (l + r) * 0.5f;
relaxMotion(srcM, t, curM);
if (isGoodMotion(curM, w, h, dx, dy))
r = t;
else
l = t;
}
return (1 - r) * M + r * Mat::eye(3, 3, CV_32F);
}
// TODO can be estimated for O(1) time
float estimateOptimalTrimRatio(const Mat &M, Size size)
{
CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F);
const float w = static_cast<float>(size.width);
const float h = static_cast<float>(size.height);
Mat_<float> M_(M);
Point2f pt[4] = {Point2f(0,0), Point2f(w,0), Point2f(w,h), Point2f(0,h)};
Point2f Mpt[4];
for (int i = 0; i < 4; ++i)
{
Mpt[i].x = M_(0,0)*pt[i].x + M_(0,1)*pt[i].y + M_(0,2);
Mpt[i].y = M_(1,0)*pt[i].x + M_(1,1)*pt[i].y + M_(1,2);
}
float l = 0, r = 0.5f;
while (r - l > 1e-3f)
{
float t = (l + r) * 0.5f;
float dx = floor(w * t);
float dy = floor(h * t);
pt[0] = Point2f(dx, dy);
pt[1] = Point2f(w - dx, dy);
pt[2] = Point2f(w - dx, h - dy);
pt[3] = Point2f(dx, h - dy);
if (isRectInside(pt, Mpt))
r = t;
else
l = t;
}
return r;
}
LpMotionStabilizer::LpMotionStabilizer(MotionModel model)
{
setMotionModel(model);
@@ -293,7 +160,7 @@ void LpMotionStabilizer::stabilize(int, const vector<Mat>&, pair<int,int>, Mat*)
void LpMotionStabilizer::stabilize(
int size, const vector<Mat> &motions, pair<int,int> range, Mat *stabilizationMotions)
{
CV_Assert(model_ == MM_LINEAR_SIMILARITY);
CV_Assert(model_ <= MM_AFFINE);
int N = size;
const vector<Mat> &M = motions;
@@ -713,7 +580,189 @@ void LpMotionStabilizer::stabilize(
}
}
#endif // #ifndef HAVE_CLP
static inline int areaSign(Point2f a, Point2f b, Point2f c)
{
double area = (b-a).cross(c-a);
if (area < -1e-5) return -1;
if (area > 1e-5) return 1;
return 0;
}
static inline bool segmentsIntersect(Point2f a, Point2f b, Point2f c, Point2f d)
{
return areaSign(a,b,c) * areaSign(a,b,d) < 0 &&
areaSign(c,d,a) * areaSign(c,d,b) < 0;
}
// Checks if rect a (with sides parallel to axis) is inside rect b (arbitrary).
// Rects must be passed in the [(0,0), (w,0), (w,h), (0,h)] order.
static inline bool isRectInside(const Point2f a[4], const Point2f b[4])
{
for (int i = 0; i < 4; ++i)
if (b[i].x > a[0].x && b[i].x < a[2].x && b[i].y > a[0].y && b[i].y < a[2].y)
return false;
for (int i = 0; i < 4; ++i)
for (int j = 0; j < 4; ++j)
if (segmentsIntersect(a[i], a[(i+1)%4], b[j], b[(j+1)%4]))
return false;
return true;
}
static inline bool isGoodMotion(const float M[], float w, float h, float dx, float dy)
{
Point2f pt[4] = {Point2f(0,0), Point2f(w,0), Point2f(w,h), Point2f(0,h)};
Point2f Mpt[4];
for (int i = 0; i < 4; ++i)
{
Mpt[i].x = M[0]*pt[i].x + M[1]*pt[i].y + M[2];
Mpt[i].y = M[3]*pt[i].x + M[4]*pt[i].y + M[5];
}
pt[0] = Point2f(dx, dy);
pt[1] = Point2f(w - dx, dy);
pt[2] = Point2f(w - dx, h - dy);
pt[3] = Point2f(dx, h - dy);
return isRectInside(pt, Mpt);
}
static inline void relaxMotion(const float M[], float t, float res[])
{
res[0] = M[0]*(1.f-t) + t;
res[1] = M[1]*(1.f-t);
res[2] = M[2]*(1.f-t);
res[3] = M[3]*(1.f-t);
res[4] = M[4]*(1.f-t) + t;
res[5] = M[5]*(1.f-t);
}
Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio)
{
CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F);
const float w = static_cast<float>(size.width);
const float h = static_cast<float>(size.height);
const float dx = floor(w * trimRatio);
const float dy = floor(h * trimRatio);
const float srcM[6] =
{M.at<float>(0,0), M.at<float>(0,1), M.at<float>(0,2),
M.at<float>(1,0), M.at<float>(1,1), M.at<float>(1,2)};
float curM[6];
float t = 0;
relaxMotion(srcM, t, curM);
if (isGoodMotion(curM, w, h, dx, dy))
return M;
float l = 0, r = 1;
while (r - l > 1e-3f)
{
t = (l + r) * 0.5f;
relaxMotion(srcM, t, curM);
if (isGoodMotion(curM, w, h, dx, dy))
r = t;
else
l = t;
}
return (1 - r) * M + r * Mat::eye(3, 3, CV_32F);
}
// TODO can be estimated for O(1) time
float estimateOptimalTrimRatio(const Mat &M, Size size)
{
CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F);
const float w = static_cast<float>(size.width);
const float h = static_cast<float>(size.height);
Mat_<float> M_(M);
Point2f pt[4] = {Point2f(0,0), Point2f(w,0), Point2f(w,h), Point2f(0,h)};
Point2f Mpt[4];
for (int i = 0; i < 4; ++i)
{
Mpt[i].x = M_(0,0)*pt[i].x + M_(0,1)*pt[i].y + M_(0,2);
Mpt[i].y = M_(1,0)*pt[i].x + M_(1,1)*pt[i].y + M_(1,2);
}
float l = 0, r = 0.5f;
while (r - l > 1e-3f)
{
float t = (l + r) * 0.5f;
float dx = floor(w * t);
float dy = floor(h * t);
pt[0] = Point2f(dx, dy);
pt[1] = Point2f(w - dx, dy);
pt[2] = Point2f(w - dx, h - dy);
pt[3] = Point2f(dx, h - dy);
if (isRectInside(pt, Mpt))
r = t;
else
l = t;
}
return r;
}
// TODO should process left open and right open segments?
void interpolateMotions(vector<Mat> &motions, vector<uchar> &mask)
{
CV_Assert(motions.size() == mask.size() && motions.size() > 0);
enum { INIT, IN_SEGMENT, LEFT_OPEN } state = mask[0] ? INIT : LEFT_OPEN;
int left = -1;
for (int i = 1; i < static_cast<int>(motions.size()); ++i)
{
if (state == INIT)
{
if (!mask[i])
{
state = IN_SEGMENT;
left = i - 1;
}
}
else if (state == IN_SEGMENT)
{
if (mask[i])
{
for (int j = left; j < i; ++j)
{
Mat_<float> M = Mat::eye(3, 3, CV_32F);
Mat_<float> Ml = motions[left];
Mat_<float> Mr = motions[i];
float d1 = j - left;
float d2 = i - j;
for (int l = 0; l < 3; ++l)
for (int s = 0; s < 3; ++s)
M(l,s) = (d2*Ml(l,s) + d1*Mr(l,s)) / (d1 + d2);
motions[i] = M;
mask[i] = 1;
}
}
}
else if (state == LEFT_OPEN)
{
if (mask[i]) state = INIT;
}
}
}
} // namespace videostab
} // namespace cv