Added local outlier rejector. Added rigid motion estimator. Refactored videostab module.

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

@@ -48,8 +48,10 @@
 #include <fstream>
 #include "opencv2/core/core.hpp"
 #include "opencv2/features2d/features2d.hpp"
-#include "opencv2/videostab/optical_flow.hpp"
 #include "opencv2/opencv_modules.hpp"
+#include "opencv2/videostab/optical_flow.hpp"
+#include "opencv2/videostab/motion_core.hpp"
+#include "opencv2/videostab/outlier_rejection.hpp"
 
 #if HAVE_OPENCV_GPU
   #include "opencv2/gpu/gpu.hpp"
@@ -60,44 +62,9 @@ namespace cv
 namespace videostab
 {
 
-enum MotionModel
-{
-    MM_TRANSLATION = 0,
-    MM_TRANSLATION_AND_SCALE = 1,
-    MM_SIMILARITY = 2,
-    MM_AFFINE = 3,
-    MM_HOMOGRAPHY = 4,
-    MM_UNKNOWN = 5
-};
-
 CV_EXPORTS Mat estimateGlobalMotionLeastSquares(
         int npoints, Point2f *points0, Point2f *points1, int model = MM_AFFINE, float *rmse = 0);
 
-struct CV_EXPORTS RansacParams
-{
-    int size; // subset size
-    float thresh; // max error to classify as inlier
-    float eps; // max outliers ratio
-    float prob; // probability of success
-
-    RansacParams() : size(0), thresh(0), eps(0), prob(0) {}
-    RansacParams(int size, float thresh, float eps, float prob)
-        : size(size), thresh(thresh), eps(eps), prob(prob) {}
-
-    static RansacParams default2dMotion(MotionModel model)
-    {
-        CV_Assert(model < MM_UNKNOWN);
-        if (model == MM_TRANSLATION)
-            return RansacParams(1, 0.5f, 0.5f, 0.99f);
-        if (model == MM_TRANSLATION_AND_SCALE)
-            return RansacParams(2, 0.5f, 0.5f, 0.99f);
-        if (model == MM_SIMILARITY)
-            return RansacParams(2, 0.5f, 0.5f, 0.99f);
-        if (model == MM_AFFINE)
-            return RansacParams(3, 0.5f, 0.5f, 0.99f);
-        return RansacParams(4, 0.5f, 0.5f, 0.99f);
-    }
-};
 
 CV_EXPORTS Mat estimateGlobalMotionRobust(
         const std::vector<Point2f> &points0, const std::vector<Point2f> &points1,
@@ -106,8 +73,7 @@ CV_EXPORTS Mat estimateGlobalMotionRobust(
 
 class CV_EXPORTS GlobalMotionEstimatorBase
 {
-public:
-    GlobalMotionEstimatorBase() : motionModel_(MM_UNKNOWN) {}
+public:    
     virtual ~GlobalMotionEstimatorBase() {}
 
     virtual void setMotionModel(MotionModel val) { motionModel_ = val; }
@@ -116,6 +82,8 @@ public:
     virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0) = 0;
 
 protected:
+    GlobalMotionEstimatorBase(MotionModel model) { setMotionModel(model); }
+
     MotionModel motionModel_;
 };
 
@@ -140,7 +108,27 @@ private:
     Ptr<GlobalMotionEstimatorBase> estimator_;
 };
 
-class CV_EXPORTS PyrLkRobustMotionEstimator : public GlobalMotionEstimatorBase
+class CV_EXPORTS PyrLkRobustMotionEstimatorBase : 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);
@@ -151,12 +139,6 @@ public:
     void setOptFlowEstimator(Ptr<ISparseOptFlowEstimator> val) { optFlowEstimator_ = val; }
     Ptr<ISparseOptFlowEstimator> optFlowEstimator() const { return optFlowEstimator_; }
 
-    void setRansacParams(const RansacParams &val) { ransacParams_ = val; }
-    RansacParams ransacParams() const { return ransacParams_; }
-
-    void setMinInlierRatio(float val) { minInlierRatio_ = val; }
-    float minInlierRatio() const { return minInlierRatio_; }
-
     void setGridSize(Size val) { gridSize_ = val; }
     Size gridSize() const { return gridSize_; }
 
@@ -165,8 +147,6 @@ public:
 private:
     Ptr<FeatureDetector> detector_;
     Ptr<ISparseOptFlowEstimator> optFlowEstimator_;
-    RansacParams ransacParams_;
-    float minInlierRatio_;
     Size gridSize_;
 
     std::vector<uchar> status_;
@@ -176,30 +156,25 @@ private:
 };
 
 #if HAVE_OPENCV_GPU
-class CV_EXPORTS PyrLkRobustMotionEstimatorGpu : public GlobalMotionEstimatorBase
+class CV_EXPORTS PyrLkRobustMotionEstimatorGpu : public PyrLkRobustMotionEstimatorBase
 {
 public:
     PyrLkRobustMotionEstimatorGpu(MotionModel model = MM_AFFINE);
 
-    void setRansacParams(const RansacParams &val) { ransacParams_ = val; }
-    RansacParams ransacParams() const { return ransacParams_; }
-
-    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);
 
 private:
     gpu::GoodFeaturesToTrackDetector_GPU detector_;
     SparsePyrLkOptFlowEstimatorGpu optFlowEstimator_;
-    RansacParams ransacParams_;
-    float minInlierRatio_;
 
     gpu::GpuMat frame0_, grayFrame0_, frame1_;
     gpu::GpuMat pointsPrev_, points_;
-    Mat hostPointsPrev_, hostPoints_;
     gpu::GpuMat status_;
+
+    Mat hostPointsPrev_, hostPoints_;
+    std::vector<Point2f> hostPointsPrevGood_, hostPointsGood_;
+    std::vector<uchar> rejectionStatus_;
 };
 #endif
 

modules/videostab/include/opencv2/videostab/motion_core.hpp

@@ -0,0 +1,103 @@
+/*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*/
+
+#ifndef __OPENCV_VIDEOSTAB_MOTION_CORE_HPP__
+#define __OPENCV_VIDEOSTAB_MOTION_CORE_HPP__
+
+#include <cmath>
+#include "opencv2/core/core.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+enum MotionModel
+{
+    MM_TRANSLATION = 0,
+    MM_TRANSLATION_AND_SCALE = 1,
+    MM_RIGID = 2,
+    MM_SIMILARITY = 3,
+    MM_AFFINE = 4,
+    MM_HOMOGRAPHY = 5,
+    MM_UNKNOWN = 6
+};
+
+struct CV_EXPORTS RansacParams
+{
+    int size; // subset size
+    float thresh; // max error to classify as inlier
+    float eps; // max outliers ratio
+    float prob; // probability of success
+
+    RansacParams() : size(0), thresh(0), eps(0), prob(0) {}
+    RansacParams(int size, float thresh, float eps, float prob)
+        : size(size), thresh(thresh), eps(eps), prob(prob) {}
+
+    int niters() const
+    {
+        return static_cast<int>(
+                std::ceil(std::log(1 - prob) / std::log(1 - std::pow(1 - eps, size))));
+    }
+
+    static RansacParams default2dMotion(MotionModel model)
+    {
+        CV_Assert(model < MM_UNKNOWN);
+        if (model == MM_TRANSLATION)
+            return RansacParams(1, 0.5f, 0.5f, 0.99f);
+        if (model == MM_TRANSLATION_AND_SCALE)
+            return RansacParams(2, 0.5f, 0.5f, 0.99f);
+        if (model == MM_RIGID)
+            return RansacParams(2, 0.5f, 0.5f, 0.99f);
+        if (model == MM_SIMILARITY)
+            return RansacParams(2, 0.5f, 0.5f, 0.99f);
+        if (model == MM_AFFINE)
+            return RansacParams(3, 0.5f, 0.5f, 0.99f);
+        return RansacParams(4, 0.5f, 0.5f, 0.99f);
+    }
+};
+
+
+} // namespace videostab
+} // namespace cv
+
+#endif

modules/videostab/include/opencv2/videostab/optical_flow.hpp

@@ -78,11 +78,11 @@ class CV_EXPORTS PyrLkOptFlowEstimatorBase
 public:
     PyrLkOptFlowEstimatorBase() { setWinSize(Size(21, 21)); setMaxLevel(3); }
 
-    void setWinSize(Size val) { winSize_ = val; }
-    Size winSize() const { return winSize_; }
+    virtual void setWinSize(Size val) { winSize_ = val; }
+    virtual Size winSize() const { return winSize_; }
 
-    void setMaxLevel(int val) { maxLevel_ = val; }
-    int maxLevel() const { return maxLevel_; }
+    virtual void setMaxLevel(int val) { maxLevel_ = val; }
+    virtual int maxLevel() const { return maxLevel_; }
 
 protected:
     Size winSize_;

modules/videostab/include/opencv2/videostab/outlier_rejection.hpp

@@ -0,0 +1,96 @@
+/*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*/
+
+#ifndef __OPENCV_VIDEOSTAB_OUTLIER_REJECTION_HPP__
+#define __OPENCV_VIDEOSTAB_OUTLIER_REJECTION_HPP__
+
+#include <vector>
+#include "opencv2/core/core.hpp"
+#include "opencv2/videostab/motion_core.hpp"
+
+namespace cv
+{
+namespace videostab
+{
+
+class CV_EXPORTS IOutlierRejector
+{
+public:
+    virtual ~IOutlierRejector() {}
+
+    virtual void process(
+            Size frameSize, InputArray points0, InputArray points1, OutputArray mask) = 0;
+};
+
+class CV_EXPORTS NullOutlierRejector : public IOutlierRejector
+{
+public:
+    virtual void process(
+            Size frameSize, InputArray points0, InputArray points1, OutputArray mask);
+};
+
+class CV_EXPORTS TranslationBasedLocalOutlierRejector : public IOutlierRejector
+{
+public:
+    TranslationBasedLocalOutlierRejector();
+
+    void setCellSize(Size val) { cellSize_ = val; }
+    Size cellSize() const { return cellSize_; }
+
+    void setRansacParams(RansacParams val) { ransacParams_ = val; }
+    RansacParams ransacParams() const { return ransacParams_; }
+
+    virtual void process(
+            Size frameSize, InputArray points0, InputArray points1, OutputArray mask);
+
+private:
+    Size cellSize_;
+    RansacParams ransacParams_;
+
+    typedef std::vector<int> Cell;
+    std::vector<Cell> grid_;
+};
+
+} // namespace videostab
+} // namespace cv
+
+#endif

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

@@ -40,7 +40,7 @@
 //
 //M*/
 
-// References:
+// REFERENCES
 // 1. "Full-Frame Video Stabilization with Motion Inpainting"
 //     Yasuyuki Matsushita, Eyal Ofek, Weina Ge, Xiaoou Tang, Senior Member, and Heung-Yeung Shum
 // 2. "Auto-Directed Video Stabilization with Robust L1 Optimal Camera Paths"

modules/videostab/include/opencv2/videostab/wobble_suppression.hpp

@@ -101,12 +101,12 @@ public:
 class CV_EXPORTS MoreAccurateMotionWobbleSuppressorBase : public WobbleSuppressorBase
 {
 public:
-    MoreAccurateMotionWobbleSuppressorBase() { setPeriod(30); }
-
-    void setPeriod(int val) { period_ = val; }
-    int period() const { return period_; }
+    virtual void setPeriod(int val) { period_ = val; }
+    virtual int period() const { return period_; }
 
 protected:
+    MoreAccurateMotionWobbleSuppressorBase() { setPeriod(30); }
+
     int period_;
 };