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Added linear programming based stabilizer (videostab)

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This commit is contained in:
Alexey Spizhevoy 2012-04-16 06:41:06 +00:00
parent c4af85043a
commit 40e7990b6b
9 changed files with 552 additions and 59 deletions
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30
modules/videostab/include/opencv2/videostab/global_motion.hpp
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@ -57,16 +57,16 @@ namespace videostab
enum MotionModel enum MotionModel
{ {
TRANSLATION = 0, MM_TRANSLATION = 0,
TRANSLATION_AND_SCALE = 1, MM_TRANSLATION_AND_SCALE = 1,
LINEAR_SIMILARITY = 2, MM_LINEAR_SIMILARITY = 2,
AFFINE = 3, MM_AFFINE = 3,
HOMOGRAPHY = 4, MM_HOMOGRAPHY = 4,
UNKNOWN = 5 MM_UNKNOWN = 5
}; };
CV_EXPORTS Mat estimateGlobalMotionLeastSquares( 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 struct CV_EXPORTS RansacParams
{ {
@ -81,14 +81,14 @@ struct CV_EXPORTS RansacParams
static RansacParams default2dMotion(MotionModel model) static RansacParams default2dMotion(MotionModel model)
{ {
CV_Assert(model < UNKNOWN); CV_Assert(model < MM_UNKNOWN);
if (model == TRANSLATION) if (model == MM_TRANSLATION)
return RansacParams(1, 0.5f, 0.5f, 0.99f); 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); 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); 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(3, 0.5f, 0.5f, 0.99f);
return RansacParams(4, 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( CV_EXPORTS Mat estimateGlobalMotionRobust(
const std::vector<Point2f> &points0, const std::vector<Point2f> &points1, 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); float *rmse = 0, int *ninliers = 0);
class CV_EXPORTS GlobalMotionEstimatorBase class CV_EXPORTS GlobalMotionEstimatorBase
{ {
public: public:
GlobalMotionEstimatorBase() : motionModel_(UNKNOWN) {} GlobalMotionEstimatorBase() : motionModel_(MM_UNKNOWN) {}
virtual ~GlobalMotionEstimatorBase() {} virtual ~GlobalMotionEstimatorBase() {}
virtual void setMotionModel(MotionModel val) { motionModel_ = val; } virtual void setMotionModel(MotionModel val) { motionModel_ = val; }
@ -138,7 +138,7 @@ private:
class CV_EXPORTS PyrLkRobustMotionEstimator : public GlobalMotionEstimatorBase class CV_EXPORTS PyrLkRobustMotionEstimator : public GlobalMotionEstimatorBase
{ {
public: public:
PyrLkRobustMotionEstimator(MotionModel model = AFFINE); PyrLkRobustMotionEstimator(MotionModel model = MM_AFFINE);
void setDetector(Ptr<FeatureDetector> val) { detector_ = val; } void setDetector(Ptr<FeatureDetector> val) { detector_ = val; }
Ptr<FeatureDetector> detector() const { return detector_; } Ptr<FeatureDetector> detector() const { return detector_; }

2
modules/videostab/include/opencv2/videostab/inpainting.hpp
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@ -59,7 +59,7 @@ class CV_EXPORTS InpainterBase
{ {
public: public:
InpainterBase() InpainterBase()
: radius_(0), motionModel_(UNKNOWN), frames_(0), motions_(0), : radius_(0), motionModel_(MM_UNKNOWN), frames_(0), motions_(0),
stabilizedFrames_(0), stabilizationMotions_(0) {} stabilizedFrames_(0), stabilizationMotions_(0) {}
virtual ~InpainterBase() {} virtual ~InpainterBase() {}

46
modules/videostab/include/opencv2/videostab/motion_stabilizing.hpp
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@ -61,7 +61,7 @@ public:
// assumes that [0, size-1) is in or equals to [range.first, range.second) // assumes that [0, size-1) is in or equals to [range.first, range.second)
virtual void stabilize( virtual void stabilize(
int size, const std::vector<Mat> &motions, std::pair<int,int> range, 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 class CV_EXPORTS MotionStabilizationPipeline : public IMotionStabilizer
@ -72,7 +72,7 @@ public:
virtual void stabilize( virtual void stabilize(
int size, const std::vector<Mat> &motions, std::pair<int,int> range, int size, const std::vector<Mat> &motions, std::pair<int,int> range,
Mat *stabilizationMotions) const; Mat *stabilizationMotions);
private: private:
std::vector<Ptr<IMotionStabilizer> > stabilizers_; std::vector<Ptr<IMotionStabilizer> > stabilizers_;
@ -84,11 +84,11 @@ public:
virtual ~MotionFilterBase() {} virtual ~MotionFilterBase() {}
virtual Mat stabilize( 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( virtual void stabilize(
int size, const std::vector<Mat> &motions, std::pair<int,int> range, int size, const std::vector<Mat> &motions, std::pair<int,int> range,
Mat *stabilizationMotions) const; Mat *stabilizationMotions);
}; };
class CV_EXPORTS GaussianMotionFilter : public MotionFilterBase class CV_EXPORTS GaussianMotionFilter : public MotionFilterBase
@ -101,7 +101,7 @@ public:
float stdev() const { return stdev_; } float stdev() const { return stdev_; }
virtual Mat stabilize( 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: private:
int radius_; int radius_;
@ -112,17 +112,49 @@ private:
class CV_EXPORTS LpMotionStabilizer : public IMotionStabilizer class CV_EXPORTS LpMotionStabilizer : public IMotionStabilizer
{ {
public: public:
LpMotionStabilizer(MotionModel model = LINEAR_SIMILARITY); LpMotionStabilizer(MotionModel model = MM_LINEAR_SIMILARITY);
void setMotionModel(MotionModel val) { model_ = val; } void setMotionModel(MotionModel val) { model_ = val; }
MotionModel motionModel() const { return model_; } 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( virtual void stabilize(
int size, const std::vector<Mat> &motions, std::pair<int,int> range, int size, const std::vector<Mat> &motions, std::pair<int,int> range,
Mat *stabilizationMotions) const; Mat *stabilizationMotions);
private: private:
MotionModel model_; 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); CV_EXPORTS Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio);

6
modules/videostab/src/global_motion.cpp
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@ -228,7 +228,7 @@ static Mat estimateGlobMotionLeastSquaresAffine(
Mat estimateGlobalMotionLeastSquares( Mat estimateGlobalMotionLeastSquares(
int npoints, Point2f *points0, Point2f *points1, int model, float *rmse) 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*); typedef Mat (*Impl)(int, Point2f*, Point2f*, float*);
static Impl impls[] = { estimateGlobMotionLeastSquaresTranslation, static Impl impls[] = { estimateGlobMotionLeastSquaresTranslation,
@ -244,7 +244,7 @@ Mat estimateGlobalMotionRobust(
const vector<Point2f> &points0, const vector<Point2f> &points1, int model, const vector<Point2f> &points0, const vector<Point2f> &points1, int model,
const RansacParams &params, float *rmse, int *ninliers) const RansacParams &params, float *rmse, int *ninliers)
{ {
CV_Assert(model <= AFFINE); CV_Assert(model <= MM_AFFINE);
CV_Assert(points0.size() == points1.size()); CV_Assert(points0.size() == points1.size());
const int npoints = static_cast<int>(points0.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; int ninliers;
Mat_<float> M; Mat_<float> M;
if (motionModel_ != HOMOGRAPHY) if (motionModel_ != MM_HOMOGRAPHY)
M = estimateGlobalMotionRobust( M = estimateGlobalMotionRobust(
pointsPrevGood_, pointsGood_, motionModel_, ransacParams_, &rmse, &ninliers); pointsPrevGood_, pointsGood_, motionModel_, ransacParams_, &rmse, &ninliers);
else else

4
modules/videostab/src/inpainting.cpp
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@ -375,7 +375,7 @@ void MotionInpainter::inpaint(int idx, Mat &frame, Mat &mask)
frame1_ = at(neighbor, *frames_); frame1_ = at(neighbor, *frames_);
if (motionModel_ != HOMOGRAPHY) if (motionModel_ != MM_HOMOGRAPHY)
warpAffine( warpAffine(
frame1_, transformedFrame1_, motion1to0(Rect(0,0,3,2)), frame1_.size(), frame1_, transformedFrame1_, motion1to0(Rect(0,0,3,2)), frame1_.size(),
INTER_LINEAR, borderMode_); INTER_LINEAR, borderMode_);
@ -388,7 +388,7 @@ void MotionInpainter::inpaint(int idx, Mat &frame, Mat &mask)
// warp mask // warp mask
if (motionModel_ != HOMOGRAPHY) if (motionModel_ != MM_HOMOGRAPHY)
warpAffine( warpAffine(
mask1_, transformedMask1_, motion1to0(Rect(0,0,3,2)), mask1_.size(), mask1_, transformedMask1_, motion1to0(Rect(0,0,3,2)), mask1_.size(),
INTER_NEAREST); INTER_NEAREST);

445
modules/videostab/src/motion_stabilizing.cpp
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@ -47,8 +47,13 @@
#ifdef HAVE_CLP #ifdef HAVE_CLP
#include "coin/ClpSimplex.hpp" #include "coin/ClpSimplex.hpp"
#include "coin/ClpPresolve.hpp"
#include "coin/ClpPrimalColumnSteepest.hpp"
#include "coin/ClpDualRowSteepest.hpp"
#endif #endif
#define INF 1e10
using namespace std; using namespace std;
namespace cv namespace cv
@ -58,7 +63,7 @@ namespace videostab
void MotionStabilizationPipeline::stabilize( void MotionStabilizationPipeline::stabilize(
int size, const vector<Mat> &motions, pair<int,int> range, int size, const vector<Mat> &motions, pair<int,int> range,
Mat *stabilizationMotions) const Mat *stabilizationMotions)
{ {
vector<Mat> updatedMotions(motions.size()); vector<Mat> updatedMotions(motions.size());
for (size_t i = 0; i < motions.size(); ++i) for (size_t i = 0; i < motions.size(); ++i)
@ -87,7 +92,7 @@ void MotionStabilizationPipeline::stabilize(
void MotionFilterBase::stabilize( void MotionFilterBase::stabilize(
int size, const vector<Mat> &motions, pair<int,int> range, Mat *stabilizationMotions) const int size, const vector<Mat> &motions, pair<int,int> range, Mat *stabilizationMotions)
{ {
for (int i = 0; i < size; ++i) for (int i = 0; i < size; ++i)
stabilizationMotions[i] = stabilize(i, motions, range); stabilizationMotions[i] = stabilize(i, motions, range);
@ -108,7 +113,7 @@ void GaussianMotionFilter::setParams(int radius, float stdev)
} }
Mat GaussianMotionFilter::stabilize(int idx, const vector<Mat> &motions, pair<int,int> range) const Mat GaussianMotionFilter::stabilize(int idx, const vector<Mat> &motions, pair<int,int> range)
{ {
const Mat &cur = at(idx, motions); const Mat &cur = at(idx, motions);
Mat res = Mat::zeros(cur.size(), cur.type()); Mat res = Mat::zeros(cur.size(), cur.type());
@ -260,23 +265,449 @@ float estimateOptimalTrimRatio(const Mat &M, Size size)
LpMotionStabilizer::LpMotionStabilizer(MotionModel model) LpMotionStabilizer::LpMotionStabilizer(MotionModel model)
{ {
setMotionModel(model); setMotionModel(model);
setFrameSize(Size(0,0));
setTrimRatio(0.1);
setWeight1(1);
setWeight2(10);
setWeight3(100);
setWeight4(100);
} }
#ifndef HAVE_CLP #ifndef HAVE_CLP
void LpMotionStabilizer::stabilize(int, const vector<Mat>&, pair<int,int>, Mat*) const void LpMotionStabilizer::stabilize(int, const vector<Mat>&, pair<int,int>, Mat*) const
{ {
CV_Error(CV_StsError, "The library is built without Clp support"); CV_Error(CV_StsError, "The library is built without Clp support");
} }
#else #else
void LpMotionStabilizer::stabilize( void LpMotionStabilizer::stabilize(
int size, const vector<Mat> &motions, pair<int,int> range, int size, const vector<Mat> &motions, pair<int,int> range,
Mat *stabilizationMotions) const Mat *stabilizationMotions)
{ {
// TODO implement CV_Assert(model_ == MM_LINEAR_SIMILARITY);
CV_Error(CV_StsNotImplemented, "LpMotionStabilizer::stabilize");
int N = size;
const vector<Mat> &M = motions;
Mat *S = stabilizationMotions;
double w = frameSize_.width, h = frameSize_.height;
double tw = w * trimRatio_, th = h * trimRatio_;
int ncols = 4*N + 6*(N-1) + 6*(N-2) + 6*(N-3);
int nrows = 8*N + 2*6*(N-1) + 2*6*(N-2) + 2*6*(N-3);
obj_.assign(ncols, 0);
collb_.assign(ncols, -INF);
colub_.assign(ncols, INF);
int c = 4*N;
// for each slack variable e[t] (error bound)
for (int t = 0; t < N-1; ++t, c += 6)
{
// e[t](0,0)
obj_[c] = w4_*w1_;
collb_[c] = 0;
// e[t](0,1)
obj_[c+1] = w4_*w1_;
collb_[c+1] = 0;
// e[t](0,2)
obj_[c+2] = w1_;
collb_[c+2] = 0;
// e[t](1,0)
obj_[c+3] = w4_*w1_;
collb_[c+3] = 0;
// e[t](1,1)
obj_[c+4] = w4_*w1_;
collb_[c+4] = 0;
// e[t](1,2)
obj_[c+5] = w1_;
collb_[c+5] = 0;
} }
#endif for (int t = 0; t < N-2; ++t, c += 6)
{
// e[t](0,0)
obj_[c] = w4_*w2_;
collb_[c] = 0;
// e[t](0,1)
obj_[c+1] = w4_*w2_;
collb_[c+1] = 0;
// e[t](0,2)
obj_[c+2] = w2_;
collb_[c+2] = 0;
// e[t](1,0)
obj_[c+3] = w4_*w2_;
collb_[c+3] = 0;
// e[t](1,1)
obj_[c+4] = w4_*w2_;
collb_[c+4] = 0;
// e[t](1,2)
obj_[c+5] = w2_;
collb_[c+5] = 0;
}
for (int t = 0; t < N-3; ++t, c += 6)
{
// e[t](0,0)
obj_[c] = w4_*w3_;
collb_[c] = 0;
// e[t](0,1)
obj_[c+1] = w4_*w3_;
collb_[c+1] = 0;
// e[t](0,2)
obj_[c+2] = w3_;
collb_[c+2] = 0;
// e[t](1,0)
obj_[c+3] = w4_*w3_;
collb_[c+3] = 0;
// e[t](1,1)
obj_[c+4] = w4_*w3_;
collb_[c+4] = 0;
// e[t](1,2)
obj_[c+5] = w3_;
collb_[c+5] = 0;
}
elems_.clear();
rowlb_.assign(nrows, -INF);
rowub_.assign(nrows, INF);
vector<CoinShallowPackedVector> packedRows;
packedRows.reserve(nrows);
int r = 0;
// frame corners
const Point2d pt[] = {Point2d(0,0), Point2d(w,0), Point2d(w,h), Point2d(0,h)};
// for each frame
for (int t = 0; t < N; ++t)
{
c = 4*t;
// for each frame corner
for (int i = 0; i < 4; ++i, r += 2)
{
set(r, c, pt[i].x); set(r, c+1, pt[i].y); set(r, c+2, 1);
set(r+1, c, pt[i].y); set(r+1, c+1, -pt[i].x); set(r+1, c+3, 1);
rowlb_[r] = pt[i].x-tw; rowub_[r] = pt[i].x+tw;
rowlb_[r+1] = pt[i].y-th; rowub_[r+1] = pt[i].y+th;
}
}
// for each S[t+1]M[t] - S[t] - e[t] <= 0 condition
for (int t = 0; t < N-1; ++t, r += 6)
{
Mat_<float> M0 = at(t,M);
c = 4*t;
set(r, c, -1);
set(r+1, c+1, -1);
set(r+2, c+2, -1);
set(r+3, c+1, 1);
set(r+4, c, -1);
set(r+5, c+3, -1);
c = 4*(t+1);
set(r, c, M0(0,0)); set(r, c+1, M0(1,0));
set(r+1, c, M0(0,1)); set(r+1, c+1, M0(1,1));
set(r+2, c, M0(0,2)); set(r+2, c+1, M0(1,2)); set(r+2, c+2, 1);
set(r+3, c, M0(1,0)); set(r+3, c+1, -M0(0,0));
set(r+4, c, M0(1,1)); set(r+4, c+1, -M0(0,1));
set(r+5, c, M0(1,2)); set(r+5, c+1, -M0(0,2)); set(r+5, c+3, 1);
c = 4*N + 6*t;
for (int i = 0; i < 6; ++i)
set(r+i, c+i, -1);
rowub_[r] = 0;
rowub_[r+1] = 0;
rowub_[r+2] = 0;
rowub_[r+3] = 0;
rowub_[r+4] = 0;
rowub_[r+5] = 0;
}
// for each 0 <= S[t+1]M[t] - S[t] + e[t] condition
for (int t = 0; t < N-1; ++t, r += 6)
{
Mat_<float> M0 = at(t,M);
c = 4*t;
set(r, c, -1);
set(r+1, c+1, -1);
set(r+2, c+2, -1);
set(r+3, c+1, 1);
set(r+4, c, -1);
set(r+5, c+3, -1);
c = 4*(t+1);
set(r, c, M0(0,0)); set(r, c+1, M0(1,0));
set(r+1, c, M0(0,1)); set(r+1, c+1, M0(1,1));
set(r+2, c, M0(0,2)); set(r+2, c+1, M0(1,2)); set(r+2, c+2, 1);
set(r+3, c, M0(1,0)); set(r+3, c+1, -M0(0,0));
set(r+4, c, M0(1,1)); set(r+4, c+1, -M0(0,1));
set(r+5, c, M0(1,2)); set(r+5, c+1, -M0(0,2)); set(r+5, c+3, 1);
c = 4*N + 6*t;
for (int i = 0; i < 6; ++i)
set(r+i, c+i, 1);
rowlb_[r] = 0;
rowlb_[r+1] = 0;
rowlb_[r+2] = 0;
rowlb_[r+3] = 0;
rowlb_[r+4] = 0;
rowlb_[r+5] = 0;
}
// for each S[t+2]M[t+1] - S[t+1]*(I+M[t]) + S[t] - e[t] <= 0 condition
for (int t = 0; t < N-2; ++t, r += 6)
{
Mat_<float> M0 = at(t,M), M1 = at(t+1,M);
c = 4*t;
set(r, c, 1);
set(r+1, c+1, 1);
set(r+2, c+2, 1);
set(r+3, c+1, -1);
set(r+4, c, 1);
set(r+5, c+3, 1);
c = 4*(t+1);
set(r, c, -M0(0,0)-1); set(r, c+1, -M0(1,0));
set(r+1, c, -M0(0,1)); set(r+1, c+1, -M0(1,1)-1);
set(r+2, c, -M0(0,2)); set(r+2, c+1, -M0(1,2)); set(r+2, c+2, -2);
set(r+3, c, -M0(1,0)); set(r+3, c+1, M0(0,0)+1);
set(r+4, c, -M0(1,1)-1); set(r+4, c+1, M0(0,1));
set(r+5, c, -M0(1,2)); set(r+5, c+1, M0(0,2)); set(r+5, c+3, -2);
c = 4*(t+2);
set(r, c, M1(0,0)); set(r, c+1, M1(1,0));
set(r+1, c, M1(0,1)); set(r+1, c+1, M1(1,1));
set(r+2, c, M1(0,2)); set(r+2, c+1, M1(1,2)); set(r+2, c+2, 1);
set(r+3, c, M1(1,0)); set(r+3, c+1, -M1(0,0));
set(r+4, c, M1(1,1)); set(r+4, c+1, -M1(0,1));
set(r+5, c, M1(1,2)); set(r+5, c+1, -M1(0,2)); set(r+5, c+3, 1);
c = 4*N + 6*(N-1) + 6*t;
for (int i = 0; i < 6; ++i)
set(r+i, c+i, -1);
rowub_[r] = 0;
rowub_[r+1] = 0;
rowub_[r+2] = 0;
rowub_[r+3] = 0;
rowub_[r+4] = 0;
rowub_[r+5] = 0;
}
// for each 0 <= S[t+2]M[t+1]] - S[t+1]*(I+M[t]) + S[t] + e[t] condition
for (int t = 0; t < N-2; ++t, r += 6)
{
Mat_<float> M0 = at(t,M), M1 = at(t+1,M);
c = 4*t;
set(r, c, 1);
set(r+1, c+1, 1);
set(r+2, c+2, 1);
set(r+3, c+1, -1);
set(r+4, c, 1);
set(r+5, c+3, 1);
c = 4*(t+1);
set(r, c, -M0(0,0)-1); set(r, c+1, -M0(1,0));
set(r+1, c, -M0(0,1)); set(r+1, c+1, -M0(1,1)-1);
set(r+2, c, -M0(0,2)); set(r+2, c+1, -M0(1,2)); set(r+2, c+2, -2);
set(r+3, c, -M0(1,0)); set(r+3, c+1, M0(0,0)+1);
set(r+4, c, -M0(1,1)-1); set(r+4, c+1, M0(0,1));
set(r+5, c, -M0(1,2)); set(r+5, c+1, M0(0,2)); set(r+5, c+3, -2);
c = 4*(t+2);
set(r, c, M1(0,0)); set(r, c+1, M1(1,0));
set(r+1, c, M1(0,1)); set(r+1, c+1, M1(1,1));
set(r+2, c, M1(0,2)); set(r+2, c+1, M1(1,2)); set(r+2, c+2, 1);
set(r+3, c, M1(1,0)); set(r+3, c+1, -M1(0,0));
set(r+4, c, M1(1,1)); set(r+4, c+1, -M1(0,1));
set(r+5, c, M1(1,2)); set(r+5, c+1, -M1(0,2)); set(r+5, c+3, 1);
c = 4*N + 6*(N-1) + 6*t;
for (int i = 0; i < 6; ++i)
set(r+i, c+i, 1);
rowlb_[r] = 0;
rowlb_[r+1] = 0;
rowlb_[r+2] = 0;
rowlb_[r+3] = 0;
rowlb_[r+4] = 0;
rowlb_[r+5] = 0;
}
// for each S[t+3]M[t+2] - S[t+2]*(I+2M[t+1]) + S[t+1]*(2*I+M[t]) - S[t] - e[t] <= 0 condition
for (int t = 0; t < N-3; ++t, r += 6)
{
Mat_<float> M0 = at(t,M), M1 = at(t+1,M), M2 = at(t+2,M);
c = 4*t;
set(r, c, -1);
set(r+1, c+1, -1);
set(r+2, c+2, -1);
set(r+3, c+1, 1);
set(r+4, c, -1);
set(r+5, c+3, -1);
c = 4*(t+1);
set(r, c, M0(0,0)+2); set(r, c+1, M0(1,0));
set(r+1, c, M0(0,1)); set(r+1, c+1, M0(1,1)+2);
set(r+2, c, M0(0,2)); set(r+2, c+1, M0(1,2)); set(r+2, c+2, 3);
set(r+3, c, M0(1,0)); set(r+3, c+1, -M0(0,0)-2);
set(r+4, c, M0(1,1)+2); set(r+4, c+1, -M0(0,1));
set(r+5, c, M0(1,2)); set(r+5, c+1, -M0(0,2)); set(r+5, c+3, 3);
c = 4*(t+2);
set(r, c, -2*M1(0,0)-1); set(r, c+1, -2*M1(1,0));
set(r+1, c, -2*M1(0,1)); set(r+1, c+1, -2*M1(1,1)-1);
set(r+2, c, -2*M1(0,2)); set(r+2, c+1, -2*M1(1,2)); set(r+2, c+2, -3);
set(r+3, c, -2*M1(1,0)); set(r+3, c+1, 2*M1(0,0)+1);
set(r+4, c, -2*M1(1,1)-1); set(r+4, c+1, 2*M1(0,1));
set(r+5, c, -2*M1(1,2)); set(r+5, c+1, 2*M1(0,2)); set(r+5, c+3, -3);
c = 4*(t+3);
set(r, c, M2(0,0)); set(r, c+1, M2(1,0));
set(r+1, c, M2(0,1)); set(r+1, c+1, M2(1,1));
set(r+2, c, M2(0,2)); set(r+2, c+1, M2(1,2)); set(r+2, c+2, 1);
set(r+3, c, M2(1,0)); set(r+3, c+1, -M2(0,0));
set(r+4, c, M2(1,1)); set(r+4, c+1, -M2(0,1));
set(r+5, c, M2(1,2)); set(r+5, c+1, -M2(0,2)); set(r+5, c+3, 1);
c = 4*N + 6*(N-1) + 6*(N-2) + 6*t;
for (int i = 0; i < 6; ++i)
set(r+i, c+i, -1);
rowub_[r] = 0;
rowub_[r+1] = 0;
rowub_[r+2] = 0;
rowub_[r+3] = 0;
rowub_[r+4] = 0;
rowub_[r+5] = 0;
}
// for each 0 <= S[t+3]M[t+2] - S[t+2]*(I+2M[t+1]) + S[t+1]*(2*I+M[t]) + e[t] condition
for (int t = 0; t < N-3; ++t, r += 6)
{
Mat_<float> M0 = at(t,M), M1 = at(t+1,M), M2 = at(t+2,M);
c = 4*t;
set(r, c, -1);
set(r+1, c+1, -1);
set(r+2, c+2, -1);
set(r+3, c+1, 1);
set(r+4, c, -1);
set(r+5, c+3, -1);
c = 4*(t+1);
set(r, c, M0(0,0)+2); set(r, c+1, M0(1,0));
set(r+1, c, M0(0,1)); set(r+1, c+1, M0(1,1)+2);
set(r+2, c, M0(0,2)); set(r+2, c+1, M0(1,2)); set(r+2, c+2, 3);
set(r+3, c, M0(1,0)); set(r+3, c+1, -M0(0,0)-2);
set(r+4, c, M0(1,1)+2); set(r+4, c+1, -M0(0,1));
set(r+5, c, M0(1,2)); set(r+5, c+1, -M0(0,2)); set(r+5, c+3, 3);
c = 4*(t+2);
set(r, c, -2*M1(0,0)-1); set(r, c+1, -2*M1(1,0));
set(r+1, c, -2*M1(0,1)); set(r+1, c+1, -2*M1(1,1)-1);
set(r+2, c, -2*M1(0,2)); set(r+2, c+1, -2*M1(1,2)); set(r+2, c+2, -3);
set(r+3, c, -2*M1(1,0)); set(r+3, c+1, 2*M1(0,0)+1);
set(r+4, c, -2*M1(1,1)-1); set(r+4, c+1, 2*M1(0,1));
set(r+5, c, -2*M1(1,2)); set(r+5, c+1, 2*M1(0,2)); set(r+5, c+3, -3);
c = 4*(t+3);
set(r, c, M2(0,0)); set(r, c+1, M2(1,0));
set(r+1, c, M2(0,1)); set(r+1, c+1, M2(1,1));
set(r+2, c, M2(0,2)); set(r+2, c+1, M2(1,2)); set(r+2, c+2, 1);
set(r+3, c, M2(1,0)); set(r+3, c+1, -M2(0,0));
set(r+4, c, M2(1,1)); set(r+4, c+1, -M2(0,1));
set(r+5, c, M2(1,2)); set(r+5, c+1, -M2(0,2)); set(r+5, c+3, 1);
c = 4*N + 6*(N-1) + 6*(N-2) + 6*t;
for (int i = 0; i < 6; ++i)
set(r+i, c+i, 1);
rowlb_[r] = 0;
rowlb_[r+1] = 0;
rowlb_[r+2] = 0;
rowlb_[r+3] = 0;
rowlb_[r+4] = 0;
rowlb_[r+5] = 0;
}
// solve
CoinPackedMatrix A(true, &rows_[0], &cols_[0], &elems_[0], elems_.size());
A.setDimensions(nrows, ncols);
ClpSimplex model;
model.loadProblem(A, &collb_[0], &colub_[0], &obj_[0], &rowlb_[0], &rowub_[0]);
ClpDualRowSteepest dualSteep(1);
model.setDualRowPivotAlgorithm(dualSteep);
ClpPrimalColumnSteepest primalSteep(1);
model.setPrimalColumnPivotAlgorithm(primalSteep);
model.scaling(1);
ClpPresolve presolveInfo;
Ptr<ClpSimplex> presolvedModel = presolveInfo.presolvedModel(model);
if (!presolvedModel.empty())
{
presolvedModel->dual();
presolveInfo.postsolve(true);
model.checkSolution();
model.primal(1);
}
else
{
model.dual();
model.checkSolution();
model.primal(1);
}
// save results
const double *sol = model.getColSolution();
c = 0;
for (int t = 0; t < N; ++t, c += 4)
{
Mat_<float> S0 = Mat::eye(3, 3, CV_32F);
S0(1,1) = S0(0,0) = sol[c];
S0(0,1) = sol[c+1];
S0(1,0) = -sol[c+1];
S0(0,2) = sol[c+2];
S0(1,2) = sol[c+3];
S[t] = S0;
}
}
#endif // #ifndef HAVE_CLP
} // namespace videostab } // namespace videostab
} // namespace cv } // namespace cv

4
modules/videostab/src/stabilizer.cpp
View File

@ -194,7 +194,7 @@ void StabilizerBase::stabilizeFrame()
// apply stabilization transformation // apply stabilization transformation
if (motionEstimator_->motionModel() != HOMOGRAPHY) if (motionEstimator_->motionModel() != MM_HOMOGRAPHY)
warpAffine( warpAffine(
preProcessedFrame_, at(curStabilizedPos_, stabilizedFrames_), preProcessedFrame_, at(curStabilizedPos_, stabilizedFrames_),
stabilizationMotion(Rect(0,0,3,2)), frameSize_, INTER_LINEAR, borderMode_); stabilizationMotion(Rect(0,0,3,2)), frameSize_, INTER_LINEAR, borderMode_);
@ -205,7 +205,7 @@ void StabilizerBase::stabilizeFrame()
if (doInpainting_) if (doInpainting_)
{ {
if (motionEstimator_->motionModel() != HOMOGRAPHY) if (motionEstimator_->motionModel() != MM_HOMOGRAPHY)
warpAffine( warpAffine(
frameMask_, at(curStabilizedPos_, stabilizedMasks_), frameMask_, at(curStabilizedPos_, stabilizedMasks_),
stabilizationMotion(Rect(0,0,3,2)), frameSize_, INTER_NEAREST); stabilizationMotion(Rect(0,0,3,2)), frameSize_, INTER_NEAREST);

4
modules/videostab/src/wobble_suppression.cpp
View File

@ -54,8 +54,8 @@ namespace videostab
WobbleSuppressorBase::WobbleSuppressorBase() : motions_(0), stabilizationMotions_(0) WobbleSuppressorBase::WobbleSuppressorBase() : motions_(0), stabilizationMotions_(0)
{ {
PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator(); PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator();
est->setMotionModel(HOMOGRAPHY); est->setMotionModel(MM_HOMOGRAPHY);
est->setRansacParams(RansacParams::default2dMotion(HOMOGRAPHY)); est->setRansacParams(RansacParams::default2dMotion(MM_HOMOGRAPHY));
setMotionEstimator(est); setMotionEstimator(est);
} }

68
samples/cpp/videostab.cpp
View File

@ -86,6 +86,18 @@ void printHelp()
" --stdev=(<float_number>|auto)\n" " --stdev=(<float_number>|auto)\n"
" Set smoothing weights standard deviation. The default is auto\n" " Set smoothing weights standard deviation. The default is auto\n"
" (i.e. sqrt(radius)).\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" " --deblur=(yes|no)\n"
" Do deblurring.\n" " Do deblurring.\n"
" --deblur-sens=<float_number>\n" " --deblur-sens=<float_number>\n"
@ -160,6 +172,12 @@ int main(int argc, const char **argv)
"{ lm | load-motions | no | }" "{ lm | load-motions | no | }"
"{ r | radius | 15 | }" "{ r | radius | 15 | }"
"{ | stdev | auto | }" "{ | 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 | no | }"
"{ | deblur-sens | 0.1 | }" "{ | deblur-sens | 0.1 | }"
"{ et | est-trim | yes | }" "{ et | est-trim | yes | }"
@ -196,17 +214,35 @@ int main(int argc, const char **argv)
return 0; 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; StabilizerBase *stabilizer;
bool isTwoPass = bool isTwoPass =
arg("est-trim") == "yes" || arg("wobble-suppress") == "yes"; arg("est-trim") == "yes" || arg("wobble-suppress") == "yes" || arg("lp-stab") == "yes";
if (isTwoPass) if (isTwoPass)
{ {
TwoPassStabilizer *twoPassStabilizer = new TwoPassStabilizer(); TwoPassStabilizer *twoPassStabilizer = new TwoPassStabilizer();
stabilizer = twoPassStabilizer; stabilizer = twoPassStabilizer;
twoPassStabilizer->setEstimateTrimRatio(arg("est-trim") == "yes"); 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"))); twoPassStabilizer->setMotionStabilizer(new GaussianMotionFilter(argi("radius")));
else else
twoPassStabilizer->setMotionStabilizer(new GaussianMotionFilter(argi("radius"), argf("stdev"))); twoPassStabilizer->setMotionStabilizer(new GaussianMotionFilter(argi("radius"), argf("stdev")));
@ -219,15 +255,15 @@ int main(int argc, const char **argv)
PyrLkRobustMotionEstimator *est = 0; PyrLkRobustMotionEstimator *est = 0;
if (arg("ws-model") == "transl") if (arg("ws-model") == "transl")
est = new PyrLkRobustMotionEstimator(TRANSLATION); est = new PyrLkRobustMotionEstimator(MM_TRANSLATION);
else if (arg("ws-model") == "transl_and_scale") 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") else if (arg("ws-model") == "linear_sim")
est = new PyrLkRobustMotionEstimator(LINEAR_SIMILARITY); est = new PyrLkRobustMotionEstimator(MM_LINEAR_SIMILARITY);
else if (arg("ws-model") == "affine") else if (arg("ws-model") == "affine")
est = new PyrLkRobustMotionEstimator(AFFINE); est = new PyrLkRobustMotionEstimator(MM_AFFINE);
else if (arg("ws-model") == "homography") else if (arg("ws-model") == "homography")
est = new PyrLkRobustMotionEstimator(HOMOGRAPHY); est = new PyrLkRobustMotionEstimator(MM_HOMOGRAPHY);
else else
{ {
delete est; delete est;
@ -266,28 +302,22 @@ int main(int argc, const char **argv)
else else
onePassStabilizer->setMotionFilter(new GaussianMotionFilter(argi("radius"), argf("stdev"))); 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); stabilizer->setFrameSource(source);
stabilizedFrames = dynamic_cast<IFrameSource*>(stabilizer);
PyrLkRobustMotionEstimator *est = 0; PyrLkRobustMotionEstimator *est = 0;
if (arg("model") == "transl") if (arg("model") == "transl")
est = new PyrLkRobustMotionEstimator(TRANSLATION); est = new PyrLkRobustMotionEstimator(MM_TRANSLATION);
else if (arg("model") == "transl_and_scale") 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") else if (arg("model") == "linear_sim")
est = new PyrLkRobustMotionEstimator(LINEAR_SIMILARITY); est = new PyrLkRobustMotionEstimator(MM_LINEAR_SIMILARITY);
else if (arg("model") == "affine") else if (arg("model") == "affine")
est = new PyrLkRobustMotionEstimator(AFFINE); est = new PyrLkRobustMotionEstimator(MM_AFFINE);
else if (arg("model") == "homography") else if (arg("model") == "homography")
est = new PyrLkRobustMotionEstimator(HOMOGRAPHY); est = new PyrLkRobustMotionEstimator(MM_HOMOGRAPHY);
else else
{ {
delete est; delete est;