Added more flags for motion estimation in videostab sample

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

@@ -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);

modules/videostab/src/global_motion.cpp

@@ -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;

modules/videostab/src/stabilizer.cpp

@@ -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)
         {

samples/cpp/videostab.cpp

@@ -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 | }"
@@ -216,10 +228,12 @@ 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"));
+                est->setGridSize(Size(argi("ws-extra-kps"), argi("ws-extra-kps")));
                 ws->setMotionEstimator(est);                
 
                 MotionModel model = est->motionModel();
@@ -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();