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

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This commit is contained in:
Alexey Spizhevoy
2012-04-24 12:23:23 +00:00
parent 6e830cf8f8
commit 95efec7539
9 changed files with 631 additions and 154 deletions
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142
samples/cpp/videostab.cpp
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@@ -29,6 +29,7 @@ bool quietMode;
void run();
void saveMotionsIfNecessary();
void printHelp();
MotionModel motionModel(const string &str);
void run()
@@ -70,7 +71,7 @@ void printHelp()
cout << "OpenCV video stabilizer.\n"
"Usage: videostab <file_path> [arguments]\n\n"
"Arguments:\n"
" -m, --model=(transl|transl_and_scale|similarity|affine|homography)\n"
" -m, --model=(transl|transl_and_scale|rigid|similarity|affine|homography)\n"
" Set motion model. The default is affine.\n"
" --subset=(<int_number>|auto)\n"
" Number of random samples per one motion hypothesis. The default is auto.\n"
@@ -83,7 +84,9 @@ void printHelp()
" --nkps=<int_number>\n"
" Number of keypoints to find in each frame. The default is 1000.\n"
" --extra-kps=<int_number>\n"
" Extra keypoint grid size for motion estimation. The default is 0.\n\n"
" Extra keypoint grid size for motion estimation. The default is 0.\n"
" --local-outlier-rejection=(yes|no)\n"
" Perform local outlier rejection. The default is no.\n\n"
" -sm, --save-motions=(<file_path>|no)\n"
" Save estimated motions into file. The default is no.\n"
" -lm, --load-motions=(<file_path>|no)\n"
@@ -134,7 +137,7 @@ void printHelp()
" Perform wobble suppression. The default is no.\n"
" --ws-period=<int_number>\n"
" Set wobble suppression period. The default is 30.\n"
" --ws-model=(transl|transl_and_scale|similarity|affine|homography)\n"
" --ws-model=(transl|transl_and_scale|rigid|similarity|affine|homography)\n"
" Set wobble suppression motion model (must have more DOF than motion \n"
" estimation model). The default is homography.\n"
" --ws-subset=(<int_number>|auto)\n"
@@ -148,7 +151,9 @@ void printHelp()
" --ws-nkps=<int_number>\n"
" Number of keypoints to find in each frame. The default is 1000.\n"
" --ws-extra-kps=<int_number>\n"
" Extra keypoint grid size for motion estimation. The default is 0.\n\n"
" Extra keypoint grid size for motion estimation. The default is 0.\n"
" --ws-local-outlier-rejection=(yes|no)\n"
" Perform local outlier rejection. The default is no.\n\n"
" -sm2, --save-motions2=(<file_path>|no)\n"
" Save motions estimated for wobble suppression. The default is no.\n"
" -lm2, --load-motions2=(<file_path>|no)\n"
@@ -180,6 +185,7 @@ int main(int argc, const char **argv)
"{ | min-inlier-ratio | 0.1 | }"
"{ | nkps | 1000 | }"
"{ | extra-kps | 0 | }"
"{ | local-outlier-rejection | no | }"
"{ sm | save-motions | no | }"
"{ lm | load-motions | no | }"
"{ r | radius | 15 | }"
@@ -211,6 +217,7 @@ int main(int argc, const char **argv)
"{ | ws-min-inlier-ratio | 0.1 | }"
"{ | ws-nkps | 1000 | }"
"{ | ws-extra-kps | 0 | }"
"{ | ws-local-outlier-rejection | no | }"
"{ sm2 | save-motions2 | no | }"
"{ lm2 | load-motions2 | no | }"
"{ gpu | | no }"
@@ -273,29 +280,21 @@ int main(int argc, const char **argv)
twoPassStabilizer->setMotionStabilizer(new GaussianMotionFilter(argi("radius"), argf("stdev")));
if (arg("wobble-suppress") == "yes")
{
MoreAccurateMotionWobbleSuppressorBase *ws;
MoreAccurateMotionWobbleSuppressorBase *ws = 0;
Ptr<IOutlierRejector> outlierRejector = new NullOutlierRejector();
if (arg("local-outlier-rejection") == "yes")
{
TranslationBasedLocalOutlierRejector *tor = new TranslationBasedLocalOutlierRejector();
RansacParams ransacParams = tor->ransacParams();
if (arg("ws-thresh") != "auto") ransacParams.thresh = argf("ws-thresh");
tor->setRansacParams(ransacParams);
outlierRejector = tor;
}
if (arg("gpu") == "no")
{
ws = new MoreAccurateMotionWobbleSuppressor();
PyrLkRobustMotionEstimator *est = 0;
if (arg("ws-model") == "transl")
est = new PyrLkRobustMotionEstimator(MM_TRANSLATION);
else if (arg("ws-model") == "transl_and_scale")
est = new PyrLkRobustMotionEstimator(MM_TRANSLATION_AND_SCALE);
else if (arg("ws-model") == "similarity")
est = new PyrLkRobustMotionEstimator(MM_SIMILARITY);
else if (arg("ws-model") == "affine")
est = new PyrLkRobustMotionEstimator(MM_AFFINE);
else if (arg("ws-model") == "homography")
est = new PyrLkRobustMotionEstimator(MM_HOMOGRAPHY);
else
{
delete est;
throw runtime_error("unknown wobble suppression motion model: " + arg("ws-model"));
}
PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator(motionModel(arg("ws-model")));
est->setDetector(new GoodFeaturesToTrackDetector(argi("ws-nkps")));
RansacParams ransac = est->ransacParams();
@@ -306,29 +305,15 @@ int main(int argc, const char **argv)
est->setMinInlierRatio(argf("ws-min-inlier-ratio"));
est->setGridSize(Size(argi("ws-extra-kps"), argi("ws-extra-kps")));
est->setOutlierRejector(outlierRejector);
ws = new MoreAccurateMotionWobbleSuppressor();
ws->setMotionEstimator(est);
}
else if (arg("gpu") == "yes")
{
#if HAVE_OPENCV_GPU
ws = new MoreAccurateMotionWobbleSuppressorGpu();
PyrLkRobustMotionEstimatorGpu *est = 0;
if (arg("ws-model") == "transl")
est = new PyrLkRobustMotionEstimatorGpu(MM_TRANSLATION);
else if (arg("ws-model") == "transl_and_scale")
est = new PyrLkRobustMotionEstimatorGpu(MM_TRANSLATION_AND_SCALE);
else if (arg("ws-model") == "similarity")
est = new PyrLkRobustMotionEstimatorGpu(MM_SIMILARITY);
else if (arg("ws-model") == "affine")
est = new PyrLkRobustMotionEstimatorGpu(MM_AFFINE);
else if (arg("ws-model") == "homography")
est = new PyrLkRobustMotionEstimatorGpu(MM_HOMOGRAPHY);
else
{
delete est;
throw runtime_error("unknown wobble suppression motion model: " + arg("ws-model"));
}
PyrLkRobustMotionEstimatorGpu *est = new PyrLkRobustMotionEstimatorGpu(motionModel(arg("ws-model")));
RansacParams ransac = est->ransacParams();
if (arg("ws-subset") != "auto") ransac.size = argi("ws-subset");
@@ -337,6 +322,9 @@ int main(int argc, const char **argv)
est->setRansacParams(ransac);
est->setMinInlierRatio(argf("ws-min-inlier-ratio"));
est->setOutlierRejector(outlierRejector);
ws = new MoreAccurateMotionWobbleSuppressorGpu();
ws->setMotionEstimator(est);
#else
throw runtime_error("OpenCV is built without GPU support");
@@ -376,27 +364,21 @@ int main(int argc, const char **argv)
stabilizer->setFrameSource(source);
stabilizedFrames = dynamic_cast<IFrameSource*>(stabilizer);
Ptr<IOutlierRejector> outlierRejector = new NullOutlierRejector();
if (arg("local-outlier-rejection") == "yes")
{
TranslationBasedLocalOutlierRejector *tor = new TranslationBasedLocalOutlierRejector();
RansacParams ransacParams = tor->ransacParams();
if (arg("thresh") != "auto") ransacParams.thresh = argf("thresh");
tor->setRansacParams(ransacParams);
outlierRejector = tor;
}
if (arg("gpu") == "no")
{
PyrLkRobustMotionEstimator *est = 0;
if (arg("model") == "transl")
est = new PyrLkRobustMotionEstimator(MM_TRANSLATION);
else if (arg("model") == "transl_and_scale")
est = new PyrLkRobustMotionEstimator(MM_TRANSLATION_AND_SCALE);
else if (arg("model") == "similarity")
est = new PyrLkRobustMotionEstimator(MM_SIMILARITY);
else if (arg("model") == "affine")
est = new PyrLkRobustMotionEstimator(MM_AFFINE);
else if (arg("model") == "homography")
est = new PyrLkRobustMotionEstimator(MM_HOMOGRAPHY);
else
{
delete est;
throw runtime_error("unknown motion model: " + arg("model"));
}
PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator(motionModel(arg("model")));;
est->setDetector(new GoodFeaturesToTrackDetector(argi("nkps")));
RansacParams ransac = est->ransacParams();
if (arg("subset") != "auto") ransac.size = argi("subset");
if (arg("thresh") != "auto") ransac.thresh = argi("thresh");
@@ -405,28 +387,14 @@ int main(int argc, const char **argv)
est->setMinInlierRatio(argf("min-inlier-ratio"));
est->setGridSize(Size(argi("extra-kps"), argi("extra-kps")));
est->setOutlierRejector(outlierRejector);
stabilizer->setMotionEstimator(est);
}
else if (arg("gpu") == "yes")
{
#if HAVE_OPENCV_GPU
PyrLkRobustMotionEstimatorGpu *est = 0;
if (arg("model") == "transl")
est = new PyrLkRobustMotionEstimatorGpu(MM_TRANSLATION);
else if (arg("model") == "transl_and_scale")
est = new PyrLkRobustMotionEstimatorGpu(MM_TRANSLATION_AND_SCALE);
else if (arg("model") == "similarity")
est = new PyrLkRobustMotionEstimatorGpu(MM_SIMILARITY);
else if (arg("model") == "affine")
est = new PyrLkRobustMotionEstimatorGpu(MM_AFFINE);
else if (arg("model") == "homography")
est = new PyrLkRobustMotionEstimatorGpu(MM_HOMOGRAPHY);
else
{
delete est;
throw runtime_error("unknown wobble suppression motion model: " + arg("ws-model"));
}
PyrLkRobustMotionEstimatorGpu *est = new PyrLkRobustMotionEstimatorGpu(motionModel(arg("model")));;
RansacParams ransac = est->ransacParams();
if (arg("subset") != "auto") ransac.size = argi("subset");
@@ -435,6 +403,8 @@ int main(int argc, const char **argv)
est->setRansacParams(ransac);
est->setMinInlierRatio(argf("min-inlier-ratio"));
est->setOutlierRejector(outlierRejector);
stabilizer->setMotionEstimator(est);
#else
throw runtime_error("OpenCV is built without GPU support");
@@ -523,3 +493,21 @@ int main(int argc, const char **argv)
stabilizedFrames.release();
return 0;
}
MotionModel motionModel(const string &str)
{
if (str == "transl")
return MM_TRANSLATION;
if (str == "transl_and_scale")
return MM_TRANSLATION_AND_SCALE;
if (str == "rigid")
return MM_RIGID;
if (str == "similarity")
return MM_SIMILARITY;
if (str == "affine")
return MM_AFFINE;
if (str == "homography")
return MM_HOMOGRAPHY;
throw runtime_error("unknown motion model: " + str);
}