Added LP based global motion estimation (videostab)

modules/videostab/include/opencv2/videostab/global_motion.hpp

@@ -57,6 +57,8 @@
   #include "opencv2/gpu/gpu.hpp"
 #endif
 
+// TODO remove code duplications (in cpp too)
+
 namespace cv
 {
 namespace videostab
@@ -91,6 +93,7 @@ class CV_EXPORTS FromFileMotionReader : public GlobalMotionEstimatorBase
 {
 public:
     FromFileMotionReader(const std::string &path);
+
     virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
 
 private:
@@ -101,6 +104,7 @@ class CV_EXPORTS ToFileMotionWriter : public GlobalMotionEstimatorBase
 {
 public:
     ToFileMotionWriter(const std::string &path, Ptr<GlobalMotionEstimatorBase> estimator);
+
     virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
 
 private:
@@ -108,30 +112,10 @@ private:
     Ptr<GlobalMotionEstimatorBase> estimator_;
 };
 
-class CV_EXPORTS PyrLkRobustMotionEstimatorBase : public GlobalMotionEstimatorBase
+class CV_EXPORTS RansacMotionEstimator : public GlobalMotionEstimatorBase
 {
 public:
-    virtual void setRansacParams(const RansacParams &val) { ransacParams_ = val; }
-    virtual RansacParams ransacParams() const { return ransacParams_; }
-
-    virtual void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; }
-    virtual Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; }
-
-    virtual void setMinInlierRatio(float val) { minInlierRatio_ = val; }
-    virtual float minInlierRatio() const { return minInlierRatio_; }
-
-protected:
-    PyrLkRobustMotionEstimatorBase(MotionModel model);
-
-    RansacParams ransacParams_;
-    Ptr<IOutlierRejector> outlierRejector_;
-    float minInlierRatio_;
-};
-
-class CV_EXPORTS PyrLkRobustMotionEstimator : public PyrLkRobustMotionEstimatorBase
-{
-public:
-    PyrLkRobustMotionEstimator(MotionModel model = MM_AFFINE);
+    RansacMotionEstimator(MotionModel model = MM_AFFINE);
 
     void setDetector(Ptr<FeatureDetector> val) { detector_ = val; }
     Ptr<FeatureDetector> detector() const { return detector_; }
@@ -142,12 +126,24 @@ public:
     void setGridSize(Size val) { gridSize_ = val; }
     Size gridSize() const { return gridSize_; }
 
+    void setRansacParams(const RansacParams &val) { ransacParams_ = val; }
+    RansacParams ransacParams() const { return ransacParams_; }
+
+    void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; }
+    Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; }
+
+    void setMinInlierRatio(float val) { minInlierRatio_ = val; }
+    float minInlierRatio() const { return minInlierRatio_; }
+
     virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
 
 private:
     Ptr<FeatureDetector> detector_;
     Ptr<ISparseOptFlowEstimator> optFlowEstimator_;
     Size gridSize_;
+    RansacParams ransacParams_;
+    Ptr<IOutlierRejector> outlierRejector_;
+    float minInlierRatio_;
 
     std::vector<uchar> status_;
     std::vector<KeyPoint> keypointsPrev_;
@@ -156,10 +152,19 @@ private:
 };
 
 #if HAVE_OPENCV_GPU
-class CV_EXPORTS PyrLkRobustMotionEstimatorGpu : public PyrLkRobustMotionEstimatorBase
+class CV_EXPORTS RansacMotionEstimatorGpu : public GlobalMotionEstimatorBase
 {
 public:
-    PyrLkRobustMotionEstimatorGpu(MotionModel model = MM_AFFINE);
+    RansacMotionEstimatorGpu(MotionModel model = MM_AFFINE);
+
+    void setRansacParams(const RansacParams &val) { ransacParams_ = val; }
+    RansacParams ransacParams() const { return ransacParams_; }
+
+    void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; }
+    Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; }
+
+    void setMinInlierRatio(float val) { minInlierRatio_ = val; }
+    float minInlierRatio() const { return minInlierRatio_; }
 
     virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
     Mat estimate(const gpu::GpuMat &frame0, const gpu::GpuMat &frame1, bool *ok = 0);
@@ -167,6 +172,9 @@ public:
 private:
     gpu::GoodFeaturesToTrackDetector_GPU detector_;
     SparsePyrLkOptFlowEstimatorGpu optFlowEstimator_;
+    RansacParams ransacParams_;
+    Ptr<IOutlierRejector> outlierRejector_;
+    float minInlierRatio_;
 
     gpu::GpuMat frame0_, grayFrame0_, frame1_;
     gpu::GpuMat pointsPrev_, points_;
@@ -178,6 +186,44 @@ private:
 };
 #endif
 
+class CV_EXPORTS LpBasedMotionEstimator : public GlobalMotionEstimatorBase
+{
+public:
+    LpBasedMotionEstimator(MotionModel model = MM_AFFINE);
+
+    void setDetector(Ptr<FeatureDetector> val) { detector_ = val; }
+    Ptr<FeatureDetector> detector() const { return detector_; }
+
+    void setOptFlowEstimator(Ptr<ISparseOptFlowEstimator> val) { optFlowEstimator_ = val; }
+    Ptr<ISparseOptFlowEstimator> optFlowEstimator() const { return optFlowEstimator_; }
+
+    void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; }
+    Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; }
+
+    virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok);
+
+private:
+    Ptr<FeatureDetector> detector_;
+    Ptr<ISparseOptFlowEstimator> optFlowEstimator_;
+    Ptr<IOutlierRejector> outlierRejector_;
+
+    std::vector<uchar> status_;
+    std::vector<KeyPoint> keypointsPrev_;
+    std::vector<Point2f> pointsPrev_, points_;
+    std::vector<Point2f> pointsPrevGood_, pointsGood_;
+
+    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 getMotion(int from, int to, const std::vector<Mat> &motions);
 
 } // namespace videostab