Split stabilizer into OnePassStabilizer and TwoPassStabilizer

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

@@ -53,24 +53,26 @@ namespace videostab
 
 CV_EXPORTS float calcBlurriness(const Mat &frame);
 
-class CV_EXPORTS IDeblurer
+class CV_EXPORTS DeblurerBase
 {
 public:
-    IDeblurer() : radius_(0), frames_(0), motions_(0) {}
+    DeblurerBase() : radius_(0), frames_(0), motions_(0) {}
 
-    virtual ~IDeblurer() {}
+    virtual ~DeblurerBase() {}
 
     virtual void setRadius(int val) { radius_ = val; }
-    int radius() const { return radius_; }
+    virtual int radius() const { return radius_; }
 
     virtual void setFrames(const std::vector<Mat> &val) { frames_ = &val; }
-    const std::vector<Mat>& frames() const { return *frames_; }
+    virtual const std::vector<Mat>& frames() const { return *frames_; }
 
     virtual void setMotions(const std::vector<Mat> &val) { motions_ = &val; }
-    const std::vector<Mat>& motions() const { return *motions_; }
+    virtual const std::vector<Mat>& motions() const { return *motions_; }
 
     virtual void setBlurrinessRates(const std::vector<float> &val) { blurrinessRates_ = &val; }
-    const std::vector<float>& blurrinessRates() const { return *blurrinessRates_; }
+    virtual const std::vector<float>& blurrinessRates() const { return *blurrinessRates_; }
+
+    virtual void update() {}
 
     virtual void deblur(int idx, Mat &frame) = 0;
 
@@ -81,13 +83,13 @@ protected:
     const std::vector<float> *blurrinessRates_;
 };
 
-class CV_EXPORTS NullDeblurer : public IDeblurer
+class CV_EXPORTS NullDeblurer : public DeblurerBase
 {
 public:
     virtual void deblur(int /*idx*/, Mat &/*frame*/) {}
 };
 
-class CV_EXPORTS WeightingDeblurer : public IDeblurer
+class CV_EXPORTS WeightingDeblurer : public DeblurerBase
 {
 public:
     WeightingDeblurer();

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

@@ -129,6 +129,8 @@ private:
     float minInlierRatio_;
 };
 
+CV_EXPORTS Mat getMotion(int from, int to, const Mat *motions, int size);
+
 CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions);
 
 } // namespace videostab

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

@@ -54,29 +54,31 @@ namespace cv
 namespace videostab
 {
 
-class CV_EXPORTS IInpainter
+class CV_EXPORTS InpainterBase
 {
 public:
-    IInpainter()
+    InpainterBase()
         : radius_(0), frames_(0), motions_(0),
           stabilizedFrames_(0), stabilizationMotions_(0) {}
 
-    virtual ~IInpainter() {}
+    virtual ~InpainterBase() {}
 
     virtual void setRadius(int val) { radius_ = val; }
-    int radius() const { return radius_; }
+    virtual int radius() const { return radius_; }
 
     virtual void setFrames(const std::vector<Mat> &val) { frames_ = &val; }
-    const std::vector<Mat>& frames() const { return *frames_; }
+    virtual const std::vector<Mat>& frames() const { return *frames_; }
 
     virtual void setMotions(const std::vector<Mat> &val) { motions_ = &val; }
-    const std::vector<Mat>& motions() const { return *motions_; }
+    virtual const std::vector<Mat>& motions() const { return *motions_; }
 
     virtual void setStabilizedFrames(const std::vector<Mat> &val) { stabilizedFrames_ = &val; }
-    const std::vector<Mat>& stabilizedFrames() const { return *stabilizedFrames_; }
+    virtual const std::vector<Mat>& stabilizedFrames() const { return *stabilizedFrames_; }
 
     virtual void setStabilizationMotions(const std::vector<Mat> &val) { stabilizationMotions_ = &val; }
-    const std::vector<Mat>& stabilizationMotions() const { return *stabilizationMotions_; }
+    virtual const std::vector<Mat>& stabilizationMotions() const { return *stabilizationMotions_; }
+
+    virtual void update() {}
 
     virtual void inpaint(int idx, Mat &frame, Mat &mask) = 0;
 
@@ -88,16 +90,16 @@ protected:
     const std::vector<Mat> *stabilizationMotions_;
 };
 
-class CV_EXPORTS NullInpainter : public IInpainter
+class CV_EXPORTS NullInpainter : public InpainterBase
 {
 public:
     virtual void inpaint(int /*idx*/, Mat &/*frame*/, Mat &/*mask*/) {}
 };
 
-class CV_EXPORTS InpaintingPipeline : public IInpainter
+class CV_EXPORTS InpaintingPipeline : public InpainterBase
 {
 public:
-    void pushBack(Ptr<IInpainter> inpainter) { inpainters_.push_back(inpainter); }
+    void pushBack(Ptr<InpainterBase> inpainter) { inpainters_.push_back(inpainter); }
     bool empty() const { return inpainters_.empty(); }
 
     virtual void setRadius(int val);
@@ -106,13 +108,15 @@ public:
     virtual void setStabilizedFrames(const std::vector<Mat> &val);
     virtual void setStabilizationMotions(const std::vector<Mat> &val);
 
+    virtual void update();
+
     virtual void inpaint(int idx, Mat &frame, Mat &mask);
 
 private:
-    std::vector<Ptr<IInpainter> > inpainters_;
+    std::vector<Ptr<InpainterBase> > inpainters_;
 };
 
-class CV_EXPORTS ConsistentMosaicInpainter : public IInpainter
+class CV_EXPORTS ConsistentMosaicInpainter : public InpainterBase
 {
 public:
     ConsistentMosaicInpainter();
@@ -126,7 +130,7 @@ private:
     float stdevThresh_;
 };
 
-class CV_EXPORTS MotionInpainter : public IInpainter
+class CV_EXPORTS MotionInpainter : public InpainterBase
 {
 public:
     MotionInpainter();
@@ -159,7 +163,7 @@ private:
     Mat_<uchar> flowMask_;
 };
 
-class CV_EXPORTS ColorAverageInpainter : public IInpainter
+class CV_EXPORTS ColorAverageInpainter : public InpainterBase
 {
 public:
     virtual void inpaint(int idx, Mat &frame, Mat &mask);
@@ -168,7 +172,7 @@ private:
     FastMarchingMethod fmm_;
 };
 
-class CV_EXPORTS ColorInpainter : public IInpainter
+class CV_EXPORTS ColorInpainter : public InpainterBase
 {
 public:
     ColorInpainter(int method = INPAINT_TELEA, double radius = 2.)

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

@@ -51,23 +51,44 @@ namespace cv
 namespace videostab
 {
 
-class CV_EXPORTS IMotionFilter
+class CV_EXPORTS IMotionStabilizer
 {
 public:
-    virtual ~IMotionFilter() {}
+    virtual void stabilize(const Mat *motions, int size, Mat *stabilizationMotions) const = 0;
-    virtual int radius() const = 0;
-    virtual Mat apply(int index, std::vector<Mat> &Ms) const = 0;
 };
 
-class CV_EXPORTS GaussianMotionFilter : public IMotionFilter
+class CV_EXPORTS MotionFilterBase : public IMotionStabilizer
 {
 public:
-    GaussianMotionFilter(int radius, float stdev);
+    MotionFilterBase() : radius_(0) {}
+    virtual ~MotionFilterBase() {}
+
+    virtual void setRadius(int val) { radius_ = val; }
     virtual int radius() const { return radius_; }
-    virtual Mat apply(int idx, std::vector<Mat> &motions) const;
+
+    virtual void update() {}
+
+    virtual Mat stabilize(int index, const Mat *motions, int size) const = 0;
+    virtual void stabilize(const Mat *motions, int size, Mat *stabilizationMotions) const;
+
+protected:
+    int radius_;
+};
+
+class CV_EXPORTS GaussianMotionFilter : public MotionFilterBase
+{
+public:
+    GaussianMotionFilter() : stdev_(-1.f) {}
+
+    void setStdev(float val) { stdev_ = val; }
+    float stdev() const { return stdev_; }
+
+    virtual void update();
+
+    virtual Mat stabilize(int index, const Mat *motions, int size) const;
 
 private:
-    int radius_;
+    float stdev_;
     std::vector<float> weight_;
 };
 

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

@@ -58,79 +58,126 @@ namespace cv
 namespace videostab
 {
 
-class CV_EXPORTS Stabilizer : public IFrameSource
+class CV_EXPORTS StabilizerBase
 {
 public:
-    Stabilizer();
+    virtual ~StabilizerBase() {}
 
     void setLog(Ptr<ILog> log) { log_ = log; }
     Ptr<ILog> log() const { return log_; }
 
-    void setFrameSource(Ptr<IFrameSource> val) { frameSource_ = val; reset(); }
+    void setRadius(int val) { radius_ = val; }
+    int radius() const { return radius_; }
+
+    void setFrameSource(Ptr<IFrameSource> val) { frameSource_ = val; }
     Ptr<IFrameSource> frameSource() const { return frameSource_; }
 
     void setMotionEstimator(Ptr<IGlobalMotionEstimator> val) { motionEstimator_ = val; }
     Ptr<IGlobalMotionEstimator> motionEstimator() const { return motionEstimator_; }
 
-    void setMotionFilter(Ptr<IMotionFilter> val) { motionFilter_ = val; reset(); }
+    void setDeblurer(Ptr<DeblurerBase> val) { deblurer_ = val; }
-    Ptr<IMotionFilter> motionFilter() const { return motionFilter_; }
+    Ptr<DeblurerBase> deblurrer() const { return deblurer_; }
 
-    void setDeblurer(Ptr<IDeblurer> val) { deblurer_ = val; reset(); }
+    void setTrimRatio(float val) { trimRatio_ = val; }
-    Ptr<IDeblurer> deblurrer() const { return deblurer_; }
-
-    void setEstimateTrimRatio(bool val) { mustEstimateTrimRatio_ = val; reset(); }
-    bool mustEstimateTrimRatio() const { return mustEstimateTrimRatio_; }
-
-    void setTrimRatio(float val) { trimRatio_ = val; reset(); }
     float trimRatio() const { return trimRatio_; }
 
-    void setInclusionConstraint(bool val) { inclusionConstraint_ = val; }
+    void setCorrectionForInclusion(bool val) { doCorrectionForInclusion_ = val; }
-    bool inclusionConstraint() const { return inclusionConstraint_; }
+    bool doCorrectionForInclusion() const { return doCorrectionForInclusion_; }
 
     void setBorderMode(int val) { borderMode_ = val; }
     int borderMode() const { return borderMode_; }
 
-    void setInpainter(Ptr<IInpainter> val) { inpainter_ = val; reset(); }
+    void setInpainter(Ptr<InpainterBase> val) { inpainter_ = val; }
-    Ptr<IInpainter> inpainter() const { return inpainter_; }
+    Ptr<InpainterBase> inpainter() const { return inpainter_; }
 
-    virtual void reset();
+protected:
-    virtual Mat nextFrame();
+    StabilizerBase();
 
-private:
+    void setUp(int cacheSize, const Mat &frame);
-    void estimateMotionsAndTrimRatio();
+    Mat nextStabilizedFrame();
-    void processFirstFrame(Mat &frame);
+    bool doOneIteration();
-    bool processNextFrame();
+    void stabilizeFrame(const Mat &stabilizationMotion);
-    void stabilizeFrame(int idx);
 
+    virtual void setUp(Mat &firstFrame) = 0;
+    virtual void stabilizeFrame() = 0;
+    virtual void estimateMotion() = 0;
+
+    Ptr<ILog> log_;
     Ptr<IFrameSource> frameSource_;
     Ptr<IGlobalMotionEstimator> motionEstimator_;
-    Ptr<IMotionFilter> motionFilter_;
+    Ptr<DeblurerBase> deblurer_;
-    Ptr<IDeblurer> deblurer_;
+    Ptr<InpainterBase> inpainter_;
-    Ptr<IInpainter> inpainter_;
+    int radius_;
-    bool mustEstimateTrimRatio_;
     float trimRatio_;
-    bool inclusionConstraint_;
+    bool doCorrectionForInclusion_;
-    int borderMode_;    
+    int borderMode_;
-    Ptr<ILog> log_;
 
     Size frameSize_;
     Mat frameMask_;
-    int radius_;
     int curPos_;
     int curStabilizedPos_;
-    bool auxPassWasDone_;
     bool doDeblurring_;
     Mat preProcessedFrame_;
     bool doInpainting_;
     Mat inpaintingMask_;
     std::vector<Mat> frames_;
-    std::vector<Mat> motions_; // motions_[i] is the motion from i to i+1 frame
+    std::vector<Mat> motions_; // motions_[i] is the motion from i-th to i+1-th frame
     std::vector<float> blurrinessRates_;
     std::vector<Mat> stabilizedFrames_;
     std::vector<Mat> stabilizedMasks_;
     std::vector<Mat> stabilizationMotions_;
 };
 
+class CV_EXPORTS OnePassStabilizer : public StabilizerBase, public IFrameSource
+{
+public:
+    OnePassStabilizer();
+
+    void setMotionFilter(Ptr<MotionFilterBase> val) { motionFilter_ = val; }
+    Ptr<MotionFilterBase> motionFilter() const { return motionFilter_; }
+
+    virtual void reset() { resetImpl(); }
+    virtual Mat nextFrame() { return nextStabilizedFrame(); }
+
+private:
+    void resetImpl();
+
+    virtual void setUp(Mat &firstFrame);
+    virtual void estimateMotion();
+    virtual void stabilizeFrame();
+
+    Ptr<MotionFilterBase> motionFilter_;
+};
+
+class CV_EXPORTS TwoPassStabilizer : public StabilizerBase, public IFrameSource
+{
+public:
+    TwoPassStabilizer();
+
+    void setMotionStabilizer(Ptr<IMotionStabilizer> val) { motionStabilizer_ = val; }
+    Ptr<IMotionStabilizer> motionStabilizer() const { return motionStabilizer_; }
+
+    void setEstimateTrimRatio(bool val) { mustEstTrimRatio_ = val; }
+    bool mustEstimateTrimaRatio() const { return mustEstTrimRatio_; }
+
+    virtual void reset() { resetImpl(); }
+    virtual Mat nextFrame();
+
+private:
+    void resetImpl();
+    void runPrePassIfNecessary();
+
+    virtual void setUp(Mat &firstFrame);
+    virtual void estimateMotion() { /* do nothing as motion was estimation in pre-pass */ }
+    virtual void stabilizeFrame();
+
+    Ptr<IMotionStabilizer> motionStabilizer_;
+    bool mustEstTrimRatio_;
+
+    int frameCount_;
+    bool isPrePassDone_;
+};
+
 } // namespace videostab
 } // namespace cv
 

modules/videostab/src/global_motion.cpp

@@ -296,22 +296,28 @@ Mat PyrLkRobustMotionEstimator::estimate(const Mat &frame0, const Mat &frame1)
 }
 
 
-Mat getMotion(int from, int to, const vector<Mat> &motions)
+Mat getMotion(int from, int to, const Mat *motions, int size)
 {
     Mat M = Mat::eye(3, 3, CV_32F);
     if (to > from)
     {
         for (int i = from; i < to; ++i)
-            M = at(i, motions) * M;
+            M = at(i, motions, size) * M;
     }
     else if (from > to)
     {
         for (int i = to; i < from; ++i)
-            M = at(i, motions) * M;
+            M = at(i, motions, size) * M;
         M = M.inv();
     }
     return M;
 }
 
+
+Mat getMotion(int from, int to, const vector<Mat> &motions)
+{
+    return getMotion(from, to, &motions[0], motions.size());
+}
+
 } // namespace videostab
 } // namespace cv

modules/videostab/src/inpainting.cpp

@@ -57,7 +57,7 @@ void InpaintingPipeline::setRadius(int val)
 {
     for (size_t i = 0; i < inpainters_.size(); ++i)
         inpainters_[i]->setRadius(val);
-    IInpainter::setRadius(val);
+    InpainterBase::setRadius(val);
 }
 
 
@@ -65,7 +65,7 @@ void InpaintingPipeline::setFrames(const vector<Mat> &val)
 {
     for (size_t i = 0; i < inpainters_.size(); ++i)
         inpainters_[i]->setFrames(val);
-    IInpainter::setFrames(val);
+    InpainterBase::setFrames(val);
 }
 
 
@@ -73,7 +73,7 @@ void InpaintingPipeline::setMotions(const vector<Mat> &val)
 {
     for (size_t i = 0; i < inpainters_.size(); ++i)
         inpainters_[i]->setMotions(val);
-    IInpainter::setMotions(val);
+    InpainterBase::setMotions(val);
 }
 
 
@@ -81,7 +81,7 @@ void InpaintingPipeline::setStabilizedFrames(const vector<Mat> &val)
 {
     for (size_t i = 0; i < inpainters_.size(); ++i)
         inpainters_[i]->setStabilizedFrames(val);
-    IInpainter::setStabilizedFrames(val);
+    InpainterBase::setStabilizedFrames(val);
 }
 
 
@@ -89,7 +89,15 @@ void InpaintingPipeline::setStabilizationMotions(const vector<Mat> &val)
 {
     for (size_t i = 0; i < inpainters_.size(); ++i)
         inpainters_[i]->setStabilizationMotions(val);
-    IInpainter::setStabilizationMotions(val);
+    InpainterBase::setStabilizationMotions(val);
+}
+
+
+void InpaintingPipeline::update()
+{
+    for (size_t i = 0; i < inpainters_.size(); ++i)
+        inpainters_[i]->update();
+    InpainterBase::update();
 }
 
 

modules/videostab/src/motion_stabilizing.cpp

@@ -51,26 +51,34 @@ namespace cv
 namespace videostab
 {
 
-GaussianMotionFilter::GaussianMotionFilter(int radius, float stdev) : radius_(radius)
+void MotionFilterBase::stabilize(const Mat *motions, int size, Mat *stabilizationMotions) const
 {
+    for (int i = 0; i < size; ++i)
+        stabilizationMotions[i] = stabilize(i, motions, size);
+}
+
+
+void GaussianMotionFilter::update()
+{
+    float sigma = stdev_ > 0.f ? stdev_ : sqrt(static_cast<float>(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));
+        sum += weight_[radius_ + i] = std::exp(-i*i/(sigma*sigma));
     for (int i = -radius_; i <= radius_; ++i)
         weight_[radius_ + i] /= sum;
 }
 
 
-Mat GaussianMotionFilter::apply(int idx, vector<Mat> &motions) const
+Mat GaussianMotionFilter::stabilize(int index, const Mat *motions, int size) const
 {
-    const Mat &cur = at(idx, motions);
+    const Mat &cur = at(index, motions, size);
     Mat res = Mat::zeros(cur.size(), cur.type());
     float sum = 0.f;
-    for (int i = std::max(idx - radius_, 0); i <= idx + radius_; ++i)
+    for (int i = std::max(index - radius_, 0); i <= index + radius_; ++i)
     {
-        res += weight_[radius_ + i - idx] * getMotion(idx, i, motions);
+        res += weight_[radius_ + i - index] * getMotion(index, i, motions, size);
-        sum += weight_[radius_ + i - idx];
+        sum += weight_[radius_ + i - index];
     }
     return res / sum;
 }

modules/videostab/src/precomp.hpp

@@ -62,9 +62,19 @@ inline float intensity(const cv::Point3_<uchar> &bgr)
     return 0.3f*bgr.x + 0.59f*bgr.y + 0.11f*bgr.z;
 }
 
+template <typename T> inline T& at(int index, const T *items, int size)
+{
+    return items[cv::borderInterpolate(index, size, cv::BORDER_WRAP)];
+}
+
+template <typename T> inline const T& at(int index, const T *items, int size)
+{
+    return items[cv::borderInterpolate(index, size, cv::BORDER_WRAP)];
+}
+
 template <typename T> inline T& at(int index, std::vector<T> &items)
 {
-    return items[cv::borderInterpolate(index, items.size(), cv::BORDER_WRAP)];
+    return at(index, &items[0], items.size());
 }
 
 template <typename T> inline const T& at(int index, const std::vector<T> &items)

modules/videostab/src/stabilizer.cpp

@@ -50,130 +50,23 @@ namespace cv
 namespace videostab
 {
 
-Stabilizer::Stabilizer()
+StabilizerBase::StabilizerBase()
 {
+    setLog(new NullLog());
     setFrameSource(new NullFrameSource());
     setMotionEstimator(new PyrLkRobustMotionEstimator());
-    setMotionFilter(new GaussianMotionFilter(15, sqrt(15.f)));
     setDeblurer(new NullDeblurer());
     setInpainter(new NullInpainter());
-    setEstimateTrimRatio(true);
+    setRadius(15);
     setTrimRatio(0);
-    setInclusionConstraint(false);
+    setCorrectionForInclusion(false);
     setBorderMode(BORDER_REPLICATE);
-    setLog(new NullLog());
 }
 
 
-void Stabilizer::reset()
+void StabilizerBase::setUp(int cacheSize, const Mat &frame)
 {
-    radius_ = 0;
+    InpainterBase *inpainter = static_cast<InpainterBase*>(inpainter_);
-    curPos_ = -1;
-    curStabilizedPos_ = -1;
-    auxPassWasDone_ = false;
-    frames_.clear();
-    motions_.clear();
-    stabilizedFrames_.clear();
-    stabilizationMotions_.clear();
-    doDeblurring_ = false;
-    doInpainting_ = false;
-}
-
-
-Mat Stabilizer::nextFrame()
-{
-    if (mustEstimateTrimRatio_ && !auxPassWasDone_)
-    {
-        estimateMotionsAndTrimRatio();
-        auxPassWasDone_ = true;
-        frameSource_->reset();
-    }
-
-    if (curStabilizedPos_ == curPos_ && curStabilizedPos_ != -1)
-        return Mat(); // we've processed all frames already
-
-    bool processed;
-    do {
-        processed = processNextFrame();
-    } while (processed && curStabilizedPos_ == -1);
-
-    if (curStabilizedPos_ == -1)
-        return Mat(); // frame source is empty
-
-    const Mat &stabilizedFrame = at(curStabilizedPos_, stabilizedFrames_);
-    int dx = static_cast<int>(floor(trimRatio_ * stabilizedFrame.cols));
-    int dy = static_cast<int>(floor(trimRatio_ * stabilizedFrame.rows));
-    return stabilizedFrame(Rect(dx, dy, stabilizedFrame.cols - 2*dx, stabilizedFrame.rows - 2*dy));
-}
-
-
-void Stabilizer::estimateMotionsAndTrimRatio()
-{
-    log_->print("estimating motions and trim ratio");
-
-    Size size;
-    Mat prevFrame, frame;
-    int frameCount = 0;
-
-    while (!(frame = frameSource_->nextFrame()).empty())
-    {
-        if (frameCount > 0)
-            motions_.push_back(motionEstimator_->estimate(prevFrame, frame));
-        else
-            size = frame.size();
-        prevFrame = frame;
-        frameCount++;
-
-        log_->print(".");
-    }
-
-    radius_ = motionFilter_->radius();
-    for (int i = 0; i < radius_; ++i)
-        motions_.push_back(Mat::eye(3, 3, CV_32F));
-    log_->print("\n");
-
-    trimRatio_ = 0;
-    for (int i = 0; i < frameCount; ++i)
-    {
-        Mat S = motionFilter_->apply(i, motions_);
-        trimRatio_ = std::max(trimRatio_, estimateOptimalTrimRatio(S, size));
-        stabilizationMotions_.push_back(S);
-    }
-
-    log_->print("estimated trim ratio: %f\n", static_cast<double>(trimRatio_));
-}
-
-
-void Stabilizer::processFirstFrame(Mat &frame)
-{
-    log_->print("processing frames");
-
-    frameSize_ = frame.size();
-    frameMask_.create(frameSize_, CV_8U);
-    frameMask_.setTo(255);
-
-    radius_ = motionFilter_->radius();
-    int cacheSize = 2*radius_ + 1;
-
-    frames_.resize(cacheSize);
-    stabilizedFrames_.resize(cacheSize);
-    stabilizedMasks_.resize(cacheSize);
-
-    if (!auxPassWasDone_)
-    {
-        motions_.resize(cacheSize);
-        stabilizationMotions_.resize(cacheSize);
-    }
-
-    for (int i = -radius_; i < 0; ++i)
-    {
-        at(i, motions_) = Mat::eye(3, 3, CV_32F);
-        at(i, frames_) = frame;
-    }
-
-    at(0, frames_) = frame;
-
-    IInpainter *inpainter = static_cast<IInpainter*>(inpainter_);
     doInpainting_ = dynamic_cast<NullInpainter*>(inpainter) == 0;
     if (doInpainting_)
     {
@@ -182,9 +75,10 @@ void Stabilizer::processFirstFrame(Mat &frame)
         inpainter_->setMotions(motions_);
         inpainter_->setStabilizedFrames(stabilizedFrames_);
         inpainter_->setStabilizationMotions(stabilizationMotions_);
+        inpainter_->update();
     }
 
-    IDeblurer *deblurer = static_cast<IDeblurer*>(deblurer_);
+    DeblurerBase *deblurer = static_cast<DeblurerBase*>(deblurer_);
     doDeblurring_ = dynamic_cast<NullDeblurer*>(deblurer) == 0;
     if (doDeblurring_)
     {
@@ -196,11 +90,33 @@ void Stabilizer::processFirstFrame(Mat &frame)
         deblurer_->setFrames(frames_);
         deblurer_->setMotions(motions_);
         deblurer_->setBlurrinessRates(blurrinessRates_);
+        deblurer_->update();
     }
+
+    log_->print("processing frames");
 }
 
 
-bool Stabilizer::processNextFrame()
+Mat StabilizerBase::nextStabilizedFrame()
+{
+    if (curStabilizedPos_ == curPos_ && curStabilizedPos_ != -1)
+        return Mat(); // we've processed all frames already
+
+    bool processed;
+    do processed = doOneIteration();
+    while (processed && curStabilizedPos_ == -1);
+
+    if (curStabilizedPos_ == -1)
+        return Mat(); // frame source is empty
+
+    const Mat &stabilizedFrame = at(curStabilizedPos_, stabilizedFrames_);
+    int dx = static_cast<int>(floor(trimRatio_ * stabilizedFrame.cols));
+    int dy = static_cast<int>(floor(trimRatio_ * stabilizedFrame.rows));
+    return stabilizedFrame(Rect(dx, dy, stabilizedFrame.cols - 2*dx, stabilizedFrame.rows - 2*dy));
+}
+
+
+bool StabilizerBase::doOneIteration()
 {
     Mat frame = frameSource_->nextFrame();
     if (!frame.empty())
@@ -214,21 +130,16 @@ bool Stabilizer::processNextFrame()
             if (doDeblurring_)
                 at(curPos_, blurrinessRates_) = calcBlurriness(frame);
 
-            if (!auxPassWasDone_)
+            estimateMotion();
-            {
-                Mat motionPrevToCur = motionEstimator_->estimate(
-                        at(curPos_ - 1, frames_), at(curPos_, frames_));
-                at(curPos_ - 1, motions_) = motionPrevToCur;
-            }
 
             if (curPos_ >= radius_)
             {
                 curStabilizedPos_ = curPos_ - radius_;
-                stabilizeFrame(curStabilizedPos_);
+                stabilizeFrame();
             }
         }
         else
-            processFirstFrame(frame);
+            setUp(frame);
 
         log_->print(".");
         return true;
@@ -239,7 +150,7 @@ bool Stabilizer::processNextFrame()
         curStabilizedPos_++;
         at(curStabilizedPos_ + radius_, frames_) = at(curPos_, frames_);
         at(curStabilizedPos_ + radius_ - 1, motions_) = at(curPos_ - 1, motions_);
-        stabilizeFrame(curStabilizedPos_);
+        stabilizeFrame();
 
         log_->print(".");
         return true;
@@ -249,42 +160,215 @@ bool Stabilizer::processNextFrame()
 }
 
 
-void Stabilizer::stabilizeFrame(int idx)
+void StabilizerBase::stabilizeFrame(const Mat &stabilizationMotion)
 {
-    Mat stabMotion;
+    Mat stabilizationMotion_;
-    if (!auxPassWasDone_)
+    if (doCorrectionForInclusion_)
-        stabMotion = motionFilter_->apply(idx, motions_);
+        stabilizationMotion_ = ensureInclusionConstraint(stabilizationMotion, frameSize_, trimRatio_);
     else
-        stabMotion = at(idx, stabilizationMotions_);
+        stabilizationMotion_ = stabilizationMotion.clone();
 
-    if (inclusionConstraint_ && !mustEstimateTrimRatio_)
+    at(curStabilizedPos_, stabilizationMotions_) = stabilizationMotion_;
-        stabMotion = ensureInclusionConstraint(stabMotion, frameSize_, trimRatio_);
-
-    at(idx, stabilizationMotions_) = stabMotion;
 
     if (doDeblurring_)
     {
-        at(idx, frames_).copyTo(preProcessedFrame_);
+        at(curStabilizedPos_, frames_).copyTo(preProcessedFrame_);
-        deblurer_->deblur(idx, preProcessedFrame_);
+        deblurer_->deblur(curStabilizedPos_, preProcessedFrame_);
     }
     else
-        preProcessedFrame_ = at(idx, frames_);
+        preProcessedFrame_ = at(curStabilizedPos_, frames_);
 
     // apply stabilization transformation
     warpAffine(
-            preProcessedFrame_, at(idx, stabilizedFrames_), stabMotion(Rect(0,0,3,2)),
+            preProcessedFrame_, at(curStabilizedPos_, stabilizedFrames_),
-            frameSize_, INTER_LINEAR, borderMode_);
+            stabilizationMotion_(Rect(0,0,3,2)), frameSize_, INTER_LINEAR, borderMode_);
 
     if (doInpainting_)
     {
         warpAffine(
-                frameMask_, at(idx, stabilizedMasks_), stabMotion(Rect(0,0,3,2)), frameSize_,
+                frameMask_, at(curStabilizedPos_, stabilizedMasks_),
-                INTER_NEAREST);
+                stabilizationMotion_(Rect(0,0,3,2)), frameSize_, INTER_NEAREST);
-        erode(at(idx, stabilizedMasks_), at(idx, stabilizedMasks_), Mat());
+
-        at(idx, stabilizedMasks_).copyTo(inpaintingMask_);
+        erode(at(curStabilizedPos_, stabilizedMasks_), at(curStabilizedPos_, stabilizedMasks_),
-        inpainter_->inpaint(idx, at(idx, stabilizedFrames_), inpaintingMask_);
+              Mat());
+
+        at(curStabilizedPos_, stabilizedMasks_).copyTo(inpaintingMask_);
+
+        inpainter_->inpaint(
+            curStabilizedPos_, at(curStabilizedPos_, stabilizedFrames_), inpaintingMask_);
     }
 }
 
+
+OnePassStabilizer::OnePassStabilizer()
+{
+    setMotionFilter(new GaussianMotionFilter());
+    resetImpl();
+}
+
+
+void OnePassStabilizer::resetImpl()
+{
+    curPos_ = -1;
+    curStabilizedPos_ = -1;
+    frames_.clear();
+    motions_.clear();
+    stabilizedFrames_.clear();
+    stabilizationMotions_.clear();
+    doDeblurring_ = false;
+    doInpainting_ = false;
+}
+
+
+void OnePassStabilizer::setUp(Mat &firstFrame)
+{
+    frameSize_ = firstFrame.size();
+    frameMask_.create(frameSize_, CV_8U);
+    frameMask_.setTo(255);
+
+    int cacheSize = 2*radius_ + 1;
+
+    frames_.resize(cacheSize);
+    stabilizedFrames_.resize(cacheSize);
+    stabilizedMasks_.resize(cacheSize);
+    motions_.resize(cacheSize);
+    stabilizationMotions_.resize(cacheSize);
+
+    for (int i = -radius_; i < 0; ++i)
+    {
+        at(i, motions_) = Mat::eye(3, 3, CV_32F);
+        at(i, frames_) = firstFrame;
+    }
+
+    at(0, frames_) = firstFrame;
+
+    motionFilter_->setRadius(radius_);
+    motionFilter_->update();
+
+    StabilizerBase::setUp(cacheSize, firstFrame);
+}
+
+
+void OnePassStabilizer::estimateMotion()
+{
+    at(curPos_ - 1, motions_) = motionEstimator_->estimate(
+            at(curPos_ - 1, frames_), at(curPos_, frames_));
+}
+
+
+void OnePassStabilizer::stabilizeFrame()
+{
+    Mat stabilizationMotion = motionFilter_->stabilize(curStabilizedPos_, &motions_[0], motions_.size());
+    StabilizerBase::stabilizeFrame(stabilizationMotion);
+}
+
+
+TwoPassStabilizer::TwoPassStabilizer()
+{
+    setMotionStabilizer(new GaussianMotionFilter());
+    setEstimateTrimRatio(true);
+    resetImpl();
+}
+
+
+Mat TwoPassStabilizer::nextFrame()
+{
+    runPrePassIfNecessary();
+    return StabilizerBase::nextStabilizedFrame();
+}
+
+
+void TwoPassStabilizer::resetImpl()
+{
+    isPrePassDone_ = false;
+    frameCount_ = 0;
+    curPos_ = -1;
+    curStabilizedPos_ = -1;
+    frames_.clear();
+    motions_.clear();
+    stabilizedFrames_.clear();
+    stabilizationMotions_.clear();
+    doDeblurring_ = false;
+    doInpainting_ = false;
+}
+
+
+void TwoPassStabilizer::runPrePassIfNecessary()
+{
+    if (!isPrePassDone_)
+    {
+        log_->print("first pass: estimating motions");
+
+        Mat prevFrame, frame;
+
+        while (!(frame = frameSource_->nextFrame()).empty())
+        {
+            if (frameCount_ > 0)
+                motions_.push_back(motionEstimator_->estimate(prevFrame, frame));
+            else
+            {
+                frameSize_ = frame.size();
+                frameMask_.create(frameSize_, CV_8U);
+                frameMask_.setTo(255);
+            }
+
+            prevFrame = frame;
+            frameCount_++;
+
+            log_->print(".");
+        }
+
+        for (int i = 0; i < radius_; ++i)
+            motions_.push_back(Mat::eye(3, 3, CV_32F));
+        log_->print("\n");
+
+        IMotionStabilizer *motionStabilizer = static_cast<IMotionStabilizer*>(motionStabilizer_);
+        MotionFilterBase *motionFilterBase = dynamic_cast<MotionFilterBase*>(motionStabilizer);
+        if (motionFilterBase)
+        {
+            motionFilterBase->setRadius(radius_);
+            motionFilterBase->update();
+        }
+
+        stabilizationMotions_.resize(frameCount_);
+        motionStabilizer_->stabilize(&motions_[0], frameCount_, &stabilizationMotions_[0]);
+
+        if (mustEstTrimRatio_)
+        {
+            trimRatio_ = 0;
+            for (int i = 0; i < frameCount_; ++i)
+            {
+                Mat S = stabilizationMotions_[i];
+                trimRatio_ = std::max(trimRatio_, estimateOptimalTrimRatio(S, frameSize_));
+            }
+            log_->print("estimated trim ratio: %f\n", static_cast<double>(trimRatio_));
+        }
+
+        isPrePassDone_ = true;
+        frameSource_->reset();
+    }
+}
+
+
+void TwoPassStabilizer::setUp(Mat &firstFrame)
+{
+    int cacheSize = 2*radius_ + 1;
+
+    frames_.resize(cacheSize);
+    stabilizedFrames_.resize(cacheSize);
+    stabilizedMasks_.resize(cacheSize);
+
+    for (int i = -radius_; i <= 0; ++i)
+        at(i, frames_) = firstFrame;
+
+    StabilizerBase::setUp(cacheSize, firstFrame);
+}
+
+
+void TwoPassStabilizer::stabilizeFrame()
+{
+    StabilizerBase::stabilizeFrame(stabilizationMotions_[curStabilizedPos_]);
+}
+
 } // namespace videostab
 } // namespace cv

samples/cpp/videostab.cpp

@@ -12,7 +12,7 @@ using namespace std;
 using namespace cv;
 using namespace cv::videostab;
 
-Ptr<Stabilizer> stabilizer;
+Ptr<IFrameSource> stabilizedFrames;
 double outputFps;
 string outputPath;
 bool quietMode;
@@ -25,7 +25,7 @@ void run()
     VideoWriter writer;
     Mat stabilizedFrame;
 
-    while (!(stabilizedFrame = stabilizer->nextFrame()).empty())
+    while (!(stabilizedFrame = stabilizedFrames->nextFrame()).empty())
     {
         if (!outputPath.empty())
         {
@@ -87,7 +87,7 @@ void printHelp()
             "      Do color inpainting. The defailt is no.\n"
             "  --color-inpaint-radius=<float_number>\n"
             "      Set color inpainting radius (for ns and telea options only).\n\n"
-            "  -o, --output=<file_path>\n"
+            "  -o, --output=(no|<file_path>)\n"
             "      Set output file path explicitely. The default is stabilized.avi.\n"
             "  --fps=<int_number>\n"
             "      Set output video FPS explicitely. By default the source FPS is used.\n"
@@ -134,9 +134,35 @@ int main(int argc, const char **argv)
         {
             printHelp();
             return 0;
+        }               
+
+        StabilizerBase *stabilizer;
+        GaussianMotionFilter *motionFilter = 0;
+
+        if (!cmd.get<string>("stdev").empty())
+        {
+            motionFilter = new GaussianMotionFilter();
+            motionFilter->setStdev(cmd.get<float>("stdev"));
         }
 
-        stabilizer = new Stabilizer();
+        bool isTwoPass = cmd.get<string>("est-trim") == "yes";
+
+        if (isTwoPass)
+        {
+            TwoPassStabilizer *twoPassStabilizer = new TwoPassStabilizer();
+            if (!cmd.get<string>("est-trim").empty())
+                twoPassStabilizer->setEstimateTrimRatio(cmd.get<string>("est-trim") == "yes");
+            if (motionFilter)
+                twoPassStabilizer->setMotionStabilizer(motionFilter);
+            stabilizer = twoPassStabilizer;
+        }
+        else
+        {
+            OnePassStabilizer *onePassStabilizer= new OnePassStabilizer();
+            if (motionFilter)
+                onePassStabilizer->setMotionFilter(motionFilter);
+            stabilizer = onePassStabilizer;
+        }
 
         string inputPath = cmd.get<string>("1");
         if (inputPath.empty())
@@ -169,16 +195,8 @@ int main(int argc, const char **argv)
 
         stabilizer->setMotionEstimator(motionEstimator);
 
-        int smoothRadius = -1;
-        float smoothStdev = -1;
         if (!cmd.get<string>("radius").empty())
-            smoothRadius = cmd.get<int>("radius");
+            stabilizer->setRadius(cmd.get<int>("radius"));
-        if (!cmd.get<string>("stdev").empty())
-            smoothStdev = cmd.get<float>("stdev");
-        if (smoothRadius > 0 && smoothStdev > 0)
-            stabilizer->setMotionFilter(new GaussianMotionFilter(smoothRadius, smoothStdev));
-        else if (smoothRadius > 0 && smoothStdev < 0)
-            stabilizer->setMotionFilter(new GaussianMotionFilter(smoothRadius, sqrt(static_cast<float>(smoothRadius))));
 
         if (cmd.get<string>("deblur") == "yes")
         {
@@ -188,14 +206,11 @@ int main(int argc, const char **argv)
             stabilizer->setDeblurer(deblurer);
         }
 
-        if (!cmd.get<string>("est-trim").empty())
-            stabilizer->setEstimateTrimRatio(cmd.get<string>("est-trim") == "yes");
-
         if (!cmd.get<string>("trim-ratio").empty())
             stabilizer->setTrimRatio(cmd.get<float>("trim-ratio"));
 
         if (!cmd.get<string>("incl-constr").empty())
-            stabilizer->setInclusionConstraint(cmd.get<string>("incl-constr") == "yes");
+            stabilizer->setCorrectionForInclusion(cmd.get<string>("incl-constr") == "yes");
 
         if (cmd.get<string>("border-mode") == "reflect")
             stabilizer->setBorderMode(BORDER_REFLECT);
@@ -250,22 +265,23 @@ int main(int argc, const char **argv)
 
         stabilizer->setLog(new LogToStdout());
 
-        outputPath = cmd.get<string>("output");
+        outputPath = cmd.get<string>("output") != "no" ? cmd.get<string>("output") : "";
 
         if (!cmd.get<string>("fps").empty())
             outputFps = cmd.get<double>("fps");
 
         quietMode = cmd.get<bool>("quiet");
 
-        // run video processing
+        stabilizedFrames = dynamic_cast<IFrameSource*>(stabilizer);
+
         run();
     }
     catch (const exception &e)
     {
         cout << "error: " << e.what() << endl;
-        stabilizer.release();
+        stabilizedFrames.release();
         return -1;
     }
-    stabilizer.release();
+    stabilizedFrames.release();
     return 0;
 }