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Added more flags for motion estimation in videostab sample

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This commit is contained in:
Alexey Spizhevoy 2012-04-11 10:17:35 +00:00
parent b549900fe1
commit b5a1bad7a4
4 changed files with 40 additions and 3 deletions
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4
modules/videostab/include/opencv2/videostab/global_motion.hpp
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@ -148,6 +148,9 @@ public:
void setMinInlierRatio(float val) { minInlierRatio_ = val; }
float minInlierRatio() const { return minInlierRatio_; }
void setGridSize(Size val) { gridSize_ = val; }
Size gridSize() const { return gridSize_; }
virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0);
private:
@ -160,6 +163,7 @@ private:
std::vector<Point2f> pointsPrevGood_, pointsGood_;
float maxRmse_;
float minInlierRatio_;
Size gridSize_;
};
CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions);

16
modules/videostab/src/global_motion.cpp
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@ -344,6 +344,7 @@ PyrLkRobustMotionEstimator::PyrLkRobustMotionEstimator(MotionModel model)
setRansacParams(RansacParams::homography2dMotionStd());
setMaxRmse(0.5f);
setMinInlierRatio(0.1f);
setGridSize(Size(0,0));
}
@ -351,6 +352,21 @@ Mat PyrLkRobustMotionEstimator::estimate(const Mat &frame0, const Mat &frame1, b
{
detector_->detect(frame0, keypointsPrev_);
// add extra keypoints
if (gridSize_.width > 0 && gridSize_.height > 0)
{
float dx = (float)frame0.cols / (gridSize_.width + 1);
float dy = (float)frame0.rows / (gridSize_.height + 1);
for (int x = 0; x < gridSize_.width; ++x)
for (int y = 0; y < gridSize_.height; ++y)
keypointsPrev_.push_back(KeyPoint((x+1)*dx, (y+1)*dy, 0.f));
}
/*Mat img;
drawKeypoints(frame0, keypointsPrev_, img);
imshow("frame0_keypoints", img);
waitKey(3);*/
pointsPrev_.resize(keypointsPrev_.size());
for (size_t i = 0; i < keypointsPrev_.size(); ++i)
pointsPrev_[i] = keypointsPrev_[i].pt;

1
modules/videostab/src/stabilizer.cpp
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@ -375,6 +375,7 @@ void TwoPassStabilizer::runPrePassIfNecessary()
motionStabilizer_->stabilize(
frameCount_, motions_, make_pair(0, frameCount_ - 1), &stabilizationMotions_[0]);
// save motions
/*ofstream fm("log_motions.csv");
for (int i = 0; i < frameCount_ - 1; ++i)
{

22
samples/cpp/videostab.cpp
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@ -68,9 +68,13 @@ void printHelp()
" -m, --model=(transl|transl_and_scale|linear_sim|affine|homography)\n"
" Set motion model. The default is affine.\n"
" --outlier-ratio=<float_number>\n"
" Motion estimation outlier ratio hypothesis. The default is 0.5."
" Motion estimation outlier ratio hypothesis. The default is 0.5.\n"
" --min-inlier-ratio=<float_number>\n"
" Minimum inlier ratio to decide if estimated motion is OK. The default is 0.1.\n\n"
" Minimum inlier ratio to decide if estimated motion is OK. The default is 0.1.\n"
" --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"
" -sm, --save-motions=(<file_path>|no)\n"
" Save estimated motions into file. The default is no.\n"
" -lm, --load-motions=(<file_path>|no)\n"
@ -116,6 +120,10 @@ void printHelp()
" Minimum inlier ratio to decide if estimated motion is OK. The default is 0.1.\n"
" --ws-outlier-ratio=<float_number>\n"
" Motion estimation outlier ratio hypothesis. The default is 0.5.\n"
" --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"
" -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"
@ -141,6 +149,8 @@ int main(int argc, const char **argv)
"{ m | model | affine| }"
"{ | min-inlier-ratio | 0.1 | }"
"{ | outlier-ratio | 0.5 | }"
"{ | nkps | 1000 | }"
"{ | extra-kps | 0 | }"
"{ sm | save-motions | no | }"
"{ lm | load-motions | no | }"
"{ r | radius | 15 | }"
@ -162,6 +172,8 @@ int main(int argc, const char **argv)
"{ | ws-model | homography | }"
"{ | ws-min-inlier-ratio | 0.1 | }"
"{ | ws-outlier-ratio | 0.5 | }"
"{ | ws-nkps | 1000 | }"
"{ | ws-extra-kps | 0 | }"
"{ sm2 | save-motions2 | no | }"
"{ lm2 | load-motions2 | no | }"
"{ o | output | stabilized.avi | }"
@ -216,11 +228,13 @@ int main(int argc, const char **argv)
throw runtime_error("unknown wobble suppression motion model: " + arg("ws-model"));
}
est->setDetector(new GoodFeaturesToTrackDetector(argi("ws-nkps")));
RansacParams ransac = est->ransacParams();
ransac.eps = argf("ws-outlier-ratio");
est->setRansacParams(ransac);
est->setMinInlierRatio(argf("ws-min-inlier-ratio"));
ws->setMotionEstimator(est);
est->setGridSize(Size(argi("ws-extra-kps"), argi("ws-extra-kps")));
ws->setMotionEstimator(est);
MotionModel model = est->motionModel();
if (arg("load-motions2") != "no")
@ -272,10 +286,12 @@ int main(int argc, const char **argv)
throw runtime_error("unknown motion model: " + arg("model"));
}
est->setDetector(new GoodFeaturesToTrackDetector(argi("nkps")));
RansacParams ransac = est->ransacParams();
ransac.eps = argf("outlier-ratio");
est->setRansacParams(ransac);
est->setMinInlierRatio(argf("min-inlier-ratio"));
est->setGridSize(Size(argi("extra-kps"), argi("extra-kps")));
stabilizer->setMotionEstimator(est);
MotionModel model = stabilizer->motionEstimator()->motionModel();