Refactored videostab module
This commit is contained in:
Alexey Spizhevoy
parent
67d7669188
commit
68f26cca78
@ -131,13 +131,6 @@ private:
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CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions);
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CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions);
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CV_EXPORTS Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio);
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CV_EXPORTS float estimateOptimalTrimRatio(const Mat &M, Size size);
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// frame1 is non-transformed frame
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CV_EXPORTS float alignementError(const Mat &M, const Mat &frame0, const Mat &mask0, const Mat &frame1);
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} // namespace videostab
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} // namespace videostab
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} // namespace cv
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} // namespace cv
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@ -40,8 +40,8 @@
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//
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//
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//M*/
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//M*/
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#ifndef __OPENCV_VIDEOSTAB_MOTION_FILTERING_HPP__
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#ifndef __OPENCV_VIDEOSTAB_MOTION_STABILIZING_HPP__
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#define __OPENCV_VIDEOSTAB_MOTION_FILTERING_HPP__
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#define __OPENCV_VIDEOSTAB_MOTION_STABILIZING_HPP__
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#include <vector>
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#include <vector>
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#include "opencv2/core/core.hpp"
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#include "opencv2/core/core.hpp"
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@ -71,6 +71,10 @@ private:
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std::vector<float> weight_;
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std::vector<float> weight_;
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};
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};
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CV_EXPORTS Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio);
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CV_EXPORTS float estimateOptimalTrimRatio(const Mat &M, Size size);
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} // namespace videostab
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} // namespace videostab
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} // namespace
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} // namespace
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@ -47,7 +47,7 @@
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#include "opencv2/core/core.hpp"
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#include "opencv2/core/core.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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#include "opencv2/videostab/global_motion.hpp"
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#include "opencv2/videostab/global_motion.hpp"
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#include "opencv2/videostab/motion_filtering.hpp"
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#include "opencv2/videostab/motion_stabilizing.hpp"
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#include "opencv2/videostab/frame_source.hpp"
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#include "opencv2/videostab/frame_source.hpp"
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#include "opencv2/videostab/log.hpp"
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#include "opencv2/videostab/log.hpp"
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#include "opencv2/videostab/inpainting.hpp"
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#include "opencv2/videostab/inpainting.hpp"
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@ -102,8 +102,8 @@ void WeightingDeblurer::deblur(int idx, Mat &frame)
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{
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{
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for (int x = 0; x < frame.cols; ++x)
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for (int x = 0; x < frame.cols; ++x)
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{
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{
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int x1 = static_cast<int>(M(0,0)*x + M(0,1)*y + M(0,2));
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int x1 = cvRound(M(0,0)*x + M(0,1)*y + M(0,2));
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int y1 = static_cast<int>(M(1,0)*x + M(1,1)*y + M(1,2));
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int y1 = cvRound(M(1,0)*x + M(1,1)*y + M(1,2));
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if (x1 >= 0 && x1 < neighbor.cols && y1 >= 0 && y1 < neighbor.rows)
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if (x1 >= 0 && x1 < neighbor.cols && y1 >= 0 && y1 < neighbor.rows)
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{
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{
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@ -313,170 +313,5 @@ Mat getMotion(int from, int to, const vector<Mat> &motions)
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return M;
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return M;
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}
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}
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static inline int areaSign(Point2f a, Point2f b, Point2f c)
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{
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double area = (b-a).cross(c-a);
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if (area < -1e-5) return -1;
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if (area > 1e-5) return 1;
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return 0;
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}
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static inline bool segmentsIntersect(Point2f a, Point2f b, Point2f c, Point2f d)
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{
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return areaSign(a,b,c) * areaSign(a,b,d) < 0 &&
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areaSign(c,d,a) * areaSign(c,d,b) < 0;
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}
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// Checks if rect a (with sides parallel to axis) is inside rect b (arbitrary).
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// Rects must be passed in the [(0,0), (w,0), (w,h), (0,h)] order.
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static inline bool isRectInside(const Point2f a[4], const Point2f b[4])
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{
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for (int i = 0; i < 4; ++i)
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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)
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return false;
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for (int i = 0; i < 4; ++i)
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for (int j = 0; j < 4; ++j)
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if (segmentsIntersect(a[i], a[(i+1)%4], b[j], b[(j+1)%4]))
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return false;
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return true;
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}
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static inline bool isGoodMotion(const float M[], float w, float h, float dx, float dy)
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{
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Point2f pt[4] = {Point2f(0,0), Point2f(w,0), Point2f(w,h), Point2f(0,h)};
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Point2f Mpt[4];
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for (int i = 0; i < 4; ++i)
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{
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Mpt[i].x = M[0]*pt[i].x + M[1]*pt[i].y + M[2];
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Mpt[i].y = M[3]*pt[i].x + M[4]*pt[i].y + M[5];
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}
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pt[0] = Point2f(dx, dy);
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pt[1] = Point2f(w - dx, dy);
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pt[2] = Point2f(w - dx, h - dy);
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pt[3] = Point2f(dx, h - dy);
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return isRectInside(pt, Mpt);
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}
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static inline void relaxMotion(const float M[], float t, float res[])
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{
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res[0] = M[0]*(1.f-t) + t;
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res[1] = M[1]*(1.f-t);
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res[2] = M[2]*(1.f-t);
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res[3] = M[3]*(1.f-t);
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res[4] = M[4]*(1.f-t) + t;
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res[5] = M[5]*(1.f-t);
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}
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Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio)
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{
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CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F);
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const float w = static_cast<float>(size.width);
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const float h = static_cast<float>(size.height);
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const float dx = floor(w * trimRatio);
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const float dy = floor(h * trimRatio);
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const float srcM[6] =
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{M.at<float>(0,0), M.at<float>(0,1), M.at<float>(0,2),
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M.at<float>(1,0), M.at<float>(1,1), M.at<float>(1,2)};
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float curM[6];
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float t = 0;
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relaxMotion(srcM, t, curM);
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if (isGoodMotion(curM, w, h, dx, dy))
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return M;
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float l = 0, r = 1;
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while (r - l > 1e-3f)
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{
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t = (l + r) * 0.5f;
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relaxMotion(srcM, t, curM);
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if (isGoodMotion(curM, w, h, dx, dy))
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r = t;
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else
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l = t;
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t = r;
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relaxMotion(srcM, r, curM);
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}
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return (1 - r) * M + r * Mat::eye(3, 3, CV_32F);
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}
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// TODO can be estimated for O(1) time
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float estimateOptimalTrimRatio(const Mat &M, Size size)
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{
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CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F);
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const float w = static_cast<float>(size.width);
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const float h = static_cast<float>(size.height);
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Mat_<float> M_(M);
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Point2f pt[4] = {Point2f(0,0), Point2f(w,0), Point2f(w,h), Point2f(0,h)};
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Point2f Mpt[4];
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for (int i = 0; i < 4; ++i)
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{
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Mpt[i].x = M_(0,0)*pt[i].x + M_(0,1)*pt[i].y + M_(0,2);
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Mpt[i].y = M_(1,0)*pt[i].x + M_(1,1)*pt[i].y + M_(1,2);
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}
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float l = 0, r = 0.5f;
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while (r - l > 1e-3f)
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{
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float t = (l + r) * 0.5f;
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float dx = floor(w * t);
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float dy = floor(h * t);
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pt[0] = Point2f(dx, dy);
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pt[1] = Point2f(w - dx, dy);
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pt[2] = Point2f(w - dx, h - dy);
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pt[3] = Point2f(dx, h - dy);
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if (isRectInside(pt, Mpt))
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r = t;
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else
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l = t;
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}
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return r;
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}
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float alignementError(const Mat &M, const Mat &frame0, const Mat &mask0, const Mat &frame1)
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{
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CV_Assert(frame0.type() == CV_8UC3 && frame1.type() == CV_8UC3);
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CV_Assert(mask0.type() == CV_8U && mask0.size() == frame0.size());
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CV_Assert(frame0.size() == frame1.size());
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CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F);
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Mat_<uchar> mask0_(mask0);
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Mat_<float> M_(M);
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float err = 0;
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for (int y0 = 0; y0 < frame0.rows; ++y0)
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{
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for (int x0 = 0; x0 < frame0.cols; ++x0)
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{
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if (mask0_(y0,x0))
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{
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int x1 = cvRound(M_(0,0)*x0 + M_(0,1)*y0 + M_(0,2));
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int y1 = cvRound(M_(1,0)*x0 + M_(1,1)*y0 + M_(1,2));
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if (y1 >= 0 && y1 < frame1.rows && x1 >= 0 && x1 < frame1.cols)
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err += std::abs(intensity(frame1.at<Point3_<uchar> >(y1,x1)) -
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intensity(frame0.at<Point3_<uchar> >(y0,x0)));
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}
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}
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}
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return err;
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}
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} // namespace videostab
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} // namespace videostab
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} // namespace cv
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} // namespace cv
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@ -188,6 +188,37 @@ void ConsistentMosaicInpainter::inpaint(int idx, Mat &frame, Mat &mask)
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}
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}
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static float alignementError(
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const Mat &M, const Mat &frame0, const Mat &mask0, const Mat &frame1)
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{
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CV_Assert(frame0.type() == CV_8UC3 && frame1.type() == CV_8UC3);
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CV_Assert(mask0.type() == CV_8U && mask0.size() == frame0.size());
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CV_Assert(frame0.size() == frame1.size());
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CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F);
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Mat_<uchar> mask0_(mask0);
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Mat_<float> M_(M);
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float err = 0;
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for (int y0 = 0; y0 < frame0.rows; ++y0)
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{
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for (int x0 = 0; x0 < frame0.cols; ++x0)
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{
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if (mask0_(y0,x0))
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{
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int x1 = cvRound(M_(0,0)*x0 + M_(0,1)*y0 + M_(0,2));
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int y1 = cvRound(M_(1,0)*x0 + M_(1,1)*y0 + M_(1,2));
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if (y1 >= 0 && y1 < frame1.rows && x1 >= 0 && x1 < frame1.cols)
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err += std::abs(intensity(frame1.at<Point3_<uchar> >(y1,x1)) -
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intensity(frame0.at<Point3_<uchar> >(y0,x0)));
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}
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}
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}
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return err;
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}
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class MotionInpaintBody
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class MotionInpaintBody
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{
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{
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public:
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public:
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@ -1,79 +0,0 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "opencv2/videostab/motion_filtering.hpp"
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#include "opencv2/videostab/global_motion.hpp"
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using namespace std;
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namespace cv
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{
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namespace videostab
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{
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GaussianMotionFilter::GaussianMotionFilter(int radius, float stdev) : radius_(radius)
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{
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float sum = 0;
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weight_.resize(2*radius_ + 1);
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for (int i = -radius_; i <= radius_; ++i)
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sum += weight_[radius_ + i] = std::exp(-i*i/(stdev*stdev));
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for (int i = -radius_; i <= radius_; ++i)
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weight_[radius_ + i] /= sum;
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}
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Mat GaussianMotionFilter::apply(int idx, vector<Mat> &motions) const
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{
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const Mat &cur = at(idx, motions);
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Mat res = Mat::zeros(cur.size(), cur.type());
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float sum = 0.f;
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for (int i = std::max(idx - radius_, 0); i <= idx + radius_; ++i)
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{
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res += weight_[radius_ + i - idx] * getMotion(idx, i, motions);
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sum += weight_[radius_ + i - idx];
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}
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return res / sum;
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||||||
}
|
|
||||||
|
|
||||||
} // namespace videostab
|
|
||||||
} // namespace cv
|
|
||||||
214
modules/videostab/src/motion_stabilizing.cpp
Normal file
214
modules/videostab/src/motion_stabilizing.cpp
Normal file
@ -0,0 +1,214 @@
|
|||||||
|
/*M///////////////////////////////////////////////////////////////////////////////////////
|
||||||
|
//
|
||||||
|
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
|
||||||
|
//
|
||||||
|
// By downloading, copying, installing or using the software you agree to this license.
|
||||||
|
// If you do not agree to this license, do not download, install,
|
||||||
|
// copy or use the software.
|
||||||
|
//
|
||||||
|
//
|
||||||
|
// License Agreement
|
||||||
|
// For Open Source Computer Vision Library
|
||||||
|
//
|
||||||
|
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
|
||||||
|
// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
|
||||||
|
// Third party copyrights are property of their respective owners.
|
||||||
|
//
|
||||||
|
// Redistribution and use in source and binary forms, with or without modification,
|
||||||
|
// are permitted provided that the following conditions are met:
|
||||||
|
//
|
||||||
|
// * Redistribution's of source code must retain the above copyright notice,
|
||||||
|
// this list of conditions and the following disclaimer.
|
||||||
|
//
|
||||||
|
// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||||
|
// this list of conditions and the following disclaimer in the documentation
|
||||||
|
// and/or other materials provided with the distribution.
|
||||||
|
//
|
||||||
|
// * The name of the copyright holders may not be used to endorse or promote products
|
||||||
|
// derived from this software without specific prior written permission.
|
||||||
|
//
|
||||||
|
// This software is provided by the copyright holders and contributors "as is" and
|
||||||
|
// any express or implied warranties, including, but not limited to, the implied
|
||||||
|
// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
||||||
|
// In no event shall the Intel Corporation or contributors be liable for any direct,
|
||||||
|
// indirect, incidental, special, exemplary, or consequential damages
|
||||||
|
// (including, but not limited to, procurement of substitute goods or services;
|
||||||
|
// loss of use, data, or profits; or business interruption) however caused
|
||||||
|
// and on any theory of liability, whether in contract, strict liability,
|
||||||
|
// or tort (including negligence or otherwise) arising in any way out of
|
||||||
|
// the use of this software, even if advised of the possibility of such damage.
|
||||||
|
//
|
||||||
|
//M*/
|
||||||
|
|
||||||
|
#include "precomp.hpp"
|
||||||
|
#include "opencv2/videostab/motion_stabilizing.hpp"
|
||||||
|
#include "opencv2/videostab/global_motion.hpp"
|
||||||
|
|
||||||
|
using namespace std;
|
||||||
|
|
||||||
|
namespace cv
|
||||||
|
{
|
||||||
|
namespace videostab
|
||||||
|
{
|
||||||
|
|
||||||
|
GaussianMotionFilter::GaussianMotionFilter(int radius, float stdev) : radius_(radius)
|
||||||
|
{
|
||||||
|
float sum = 0;
|
||||||
|
weight_.resize(2*radius_ + 1);
|
||||||
|
for (int i = -radius_; i <= radius_; ++i)
|
||||||
|
sum += weight_[radius_ + i] = std::exp(-i*i/(stdev*stdev));
|
||||||
|
for (int i = -radius_; i <= radius_; ++i)
|
||||||
|
weight_[radius_ + i] /= sum;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
Mat GaussianMotionFilter::apply(int idx, vector<Mat> &motions) const
|
||||||
|
{
|
||||||
|
const Mat &cur = at(idx, motions);
|
||||||
|
Mat res = Mat::zeros(cur.size(), cur.type());
|
||||||
|
float sum = 0.f;
|
||||||
|
for (int i = std::max(idx - radius_, 0); i <= idx + radius_; ++i)
|
||||||
|
{
|
||||||
|
res += weight_[radius_ + i - idx] * getMotion(idx, i, motions);
|
||||||
|
sum += weight_[radius_ + i - idx];
|
||||||
|
}
|
||||||
|
return res / sum;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
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;
|
||||||
|
t = r;
|
||||||
|
relaxMotion(srcM, r, curM);
|
||||||
|
}
|
||||||
|
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
|
||||||
|
} // namespace videostab
|
||||||
|
} // namespace cv
|
||||||
Loading…
x
Reference in New Issue
Block a user