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Added Rotation motion mode in the videostab module

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This commit is contained in:
Ivan Korolev 2012-09-21 16:54:21 +04:00
parent 3b075a50e9
commit a8ba2d7f52
2 changed files with 53 additions and 6 deletions
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13
modules/videostab/include/opencv2/videostab/motion_core.hpp
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@ -55,11 +55,12 @@ 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
MM_ROTATION = 2,
MM_RIGID = 3,
MM_SIMILARITY = 4,
MM_AFFINE = 5,
MM_HOMOGRAPHY = 6,
MM_UNKNOWN = 7
};
struct CV_EXPORTS RansacParams
@ -85,6 +86,8 @@ struct CV_EXPORTS RansacParams
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_ROTATION)
return RansacParams(1, 0.5f, 0.5f, 0.99f);
if (model == MM_RIGID)
return RansacParams(2, 0.5f, 0.5f, 0.99f);
if (model == MM_SIMILARITY)

46
modules/videostab/src/global_motion.cpp
View File

@ -151,8 +151,51 @@ static Mat estimateGlobMotionLeastSquaresTranslationAndScale(
return T1.inv() * M * T0;
}
static Mat estimateGlobMotionLeastSquaresRotation(
int npoints, Point2f *points0, Point2f *points1, float *rmse)
{
Point2f p0, p1;
float A(0), B(0);
for(int i=0; i<npoints; ++i)
{
p0 = points0[i];
p1 = points1[i];
static Mat estimateGlobMotionLeastSquaresRigid(
A += p0.x*p1.x + p0.y*p1.y;
B += p0.x*p1.y - p1.x*p0.y;
}
// A*sin(alpha) + B*cos(alpha) = 0
float C = sqrt(A*A + B*B);
Mat_<float> M = Mat::eye(3, 3, CV_32F);
if ( C != 0 )
{
float sinAlpha = - B / C;
float cosAlpha = A / C;
M(0,0) = cosAlpha;
M(1,1) = M(0,0);
M(0,1) = sinAlpha;
M(1,0) = - M(0,1);
}
if (rmse)
{
*rmse = 0;
for (int i = 0; i < npoints; ++i)
{
p0 = points0[i];
p1 = points1[i];
*rmse += sqr(p1.x - M(0,0)*p0.x - M(0,1)*p0.y) +
sqr(p1.y - M(1,0)*p0.x - M(1,1)*p0.y);
}
*rmse = sqrt(*rmse / npoints);
}
return M;
}
static Mat estimateGlobMotionLeastSquaresRigid(
int npoints, Point2f *points0, Point2f *points1, float *rmse)
{
Point2f mean0(0.f, 0.f);
@ -294,6 +337,7 @@ Mat estimateGlobalMotionLeastSquares(
typedef Mat (*Impl)(int, Point2f*, Point2f*, float*);
static Impl impls[] = { estimateGlobMotionLeastSquaresTranslation,
estimateGlobMotionLeastSquaresTranslationAndScale,
estimateGlobMotionLeastSquaresRotation,
estimateGlobMotionLeastSquaresRigid,
estimateGlobMotionLeastSquaresSimilarity,
estimateGlobMotionLeastSquaresAffine };