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Added support of homography estimation into videostab module

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This commit is contained in:
Alexey Spizhevoy 2012-04-04 11:45:16 +00:00
parent ecb1f0e288
commit efa0717d01
8 changed files with 114 additions and 34 deletions
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27
modules/videostab/include/opencv2/videostab/global_motion.hpp
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@ -58,7 +58,9 @@ enum MotionModel
TRANSLATION = 0,
TRANSLATION_AND_SCALE = 1,
LINEAR_SIMILARITY = 2,
AFFINE = 3
AFFINE = 3,
HOMOGRAPHY = 4,
UNKNOWN = 5
};
CV_EXPORTS Mat estimateGlobalMotionLeastSquares(
@ -76,10 +78,11 @@ struct CV_EXPORTS RansacParams
RansacParams(int size, float thresh, float eps, float prob)
: size(size), thresh(thresh), eps(eps), prob(prob) {}
static RansacParams translationMotionStd() { return RansacParams(2, 0.5f, 0.5f, 0.99f); }
static RansacParams translation2dMotionStd() { return RansacParams(2, 0.5f, 0.5f, 0.99f); }
static RansacParams translationAndScale2dMotionStd() { return RansacParams(3, 0.5f, 0.5f, 0.99f); }
static RansacParams linearSimilarityMotionStd() { return RansacParams(4, 0.5f, 0.5f, 0.99f); }
static RansacParams linearSimilarity2dMotionStd() { return RansacParams(4, 0.5f, 0.5f, 0.99f); }
static RansacParams affine2dMotionStd() { return RansacParams(6, 0.5f, 0.5f, 0.99f); }
static RansacParams homography2dMotionStd() { return RansacParams(8, 0.5f, 0.5f, 0.99f); }
};
CV_EXPORTS Mat estimateGlobalMotionRobust(
@ -87,14 +90,22 @@ CV_EXPORTS Mat estimateGlobalMotionRobust(
int model = AFFINE, const RansacParams &params = RansacParams::affine2dMotionStd(),
float *rmse = 0, int *ninliers = 0);
class CV_EXPORTS IGlobalMotionEstimator
class CV_EXPORTS GlobalMotionEstimatorBase
{
public:
virtual ~IGlobalMotionEstimator() {}
GlobalMotionEstimatorBase() : motionModel_(UNKNOWN) {}
virtual ~GlobalMotionEstimatorBase() {}
virtual void setMotionModel(MotionModel val) { motionModel_ = val; }
virtual MotionModel motionModel() const { return motionModel_; }
virtual Mat estimate(const Mat &frame0, const Mat &frame1) = 0;
protected:
MotionModel motionModel_;
};
class CV_EXPORTS PyrLkRobustMotionEstimator : public IGlobalMotionEstimator
class CV_EXPORTS PyrLkRobustMotionEstimator : public GlobalMotionEstimatorBase
{
public:
PyrLkRobustMotionEstimator();
@ -105,9 +116,6 @@ public:
void setOptFlowEstimator(Ptr<ISparseOptFlowEstimator> val) { optFlowEstimator_ = val; }
Ptr<ISparseOptFlowEstimator> optFlowEstimator() const { return optFlowEstimator_; }
void setMotionModel(MotionModel val) { motionModel_ = val; }
MotionModel motionModel() const { return motionModel_; }
void setRansacParams(const RansacParams &val) { ransacParams_ = val; }
RansacParams ransacParams() const { return ransacParams_; }
@ -122,7 +130,6 @@ public:
private:
Ptr<FeatureDetector> detector_;
Ptr<ISparseOptFlowEstimator> optFlowEstimator_;
MotionModel motionModel_;
RansacParams ransacParams_;
std::vector<uchar> status_;
std::vector<KeyPoint> keypointsPrev_;

6
modules/videostab/include/opencv2/videostab/inpainting.hpp
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@ -47,6 +47,7 @@
#include "opencv2/core/core.hpp"
#include "opencv2/videostab/optical_flow.hpp"
#include "opencv2/videostab/fast_marching.hpp"
#include "opencv2/videostab/global_motion.hpp"
#include "opencv2/photo/photo.hpp"
namespace cv
@ -66,6 +67,9 @@ public:
virtual void setRadius(int val) { radius_ = val; }
virtual int radius() const { return radius_; }
virtual void setMotionModel(MotionModel val) { motionModel_ = val; }
virtual MotionModel motionModel() const { return motionModel_; }
virtual void setFrames(const std::vector<Mat> &val) { frames_ = &val; }
virtual const std::vector<Mat>& frames() const { return *frames_; }
@ -82,6 +86,7 @@ public:
protected:
int radius_;
MotionModel motionModel_;
const std::vector<Mat> *frames_;
const std::vector<Mat> *motions_;
const std::vector<Mat> *stabilizedFrames_;
@ -101,6 +106,7 @@ public:
bool empty() const { return inpainters_.empty(); }
virtual void setRadius(int val);
virtual void setMotionModel(MotionModel val);
virtual void setFrames(const std::vector<Mat> &val);
virtual void setMotions(const std::vector<Mat> &val);
virtual void setStabilizedFrames(const std::vector<Mat> &val);

6
modules/videostab/include/opencv2/videostab/stabilizer.hpp
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@ -72,8 +72,8 @@ public:
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 setMotionEstimator(Ptr<GlobalMotionEstimatorBase> val) { motionEstimator_ = val; }
Ptr<GlobalMotionEstimatorBase> motionEstimator() const { return motionEstimator_; }
void setDeblurer(Ptr<DeblurerBase> val) { deblurer_ = val; }
Ptr<DeblurerBase> deblurrer() const { return deblurer_; }
@ -104,7 +104,7 @@ protected:
Ptr<ILog> log_;
Ptr<IFrameSource> frameSource_;
Ptr<IGlobalMotionEstimator> motionEstimator_;
Ptr<GlobalMotionEstimatorBase> motionEstimator_;
Ptr<DeblurerBase> deblurer_;
Ptr<InpainterBase> inpainter_;
int radius_;

35
modules/videostab/src/global_motion.cpp
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@ -41,7 +41,6 @@
//M*/
#include "precomp.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/videostab/global_motion.hpp"
#include "opencv2/videostab/ring_buffer.hpp"
@ -324,8 +323,38 @@ Mat PyrLkRobustMotionEstimator::estimate(const Mat &frame0, const Mat &frame1)
float rmse;
int ninliers;
Mat M = estimateGlobalMotionRobust(
pointsPrevGood_, pointsGood_, motionModel_, ransacParams_, &rmse, &ninliers);
Mat_<float> M;
if (motionModel_ != HOMOGRAPHY)
M = estimateGlobalMotionRobust(
pointsPrevGood_, pointsGood_, motionModel_, ransacParams_, &rmse, &ninliers);
else
{
vector<uchar> mask;
M = findHomography(pointsPrevGood_, pointsGood_, CV_RANSAC, ransacParams_.thresh, mask);
ninliers = 0;
rmse = 0;
Point2d p0, p1;
float x, y, z;
for (size_t i = 0; i < pointsGood_.size(); ++i)
{
if (mask[i])
{
p0 = pointsPrevGood_[i]; p1 = pointsGood_[i];
x = M(0,0)*p0.x + M(0,1)*p0.y + M(0,2);
y = M(1,0)*p0.x + M(1,1)*p0.y + M(1,2);
z = M(2,0)*p0.x + M(2,1)*p0.y + M(2,2);
x /= z; y /= z;
rmse += sqr(x - p1.x) + sqr(y - p1.y);
ninliers++;
}
}
rmse = sqrt(rmse / static_cast<float>(ninliers));
}
if (rmse > maxRmse_ || static_cast<float>(ninliers) / pointsGood_.size() < minInlierRatio_)
M = Mat::eye(3, 3, CV_32F);

39
modules/videostab/src/inpainting.cpp
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@ -70,6 +70,14 @@ void InpaintingPipeline::setFrames(const vector<Mat> &val)
}
void InpaintingPipeline::setMotionModel(MotionModel val)
{
for (size_t i = 0; i < inpainters_.size(); ++i)
inpainters_[i]->setMotionModel(val);
InpainterBase::setMotionModel(val);
}
void InpaintingPipeline::setMotions(const vector<Mat> &val)
{
for (size_t i = 0; i < inpainters_.size(); ++i)
@ -361,17 +369,34 @@ void MotionInpainter::inpaint(int idx, Mat &frame, Mat &mask)
Mat motion1to0 = motions[radius_ + neighbor - idx].inv();
frame1_ = at(neighbor, *frames_);
warpAffine(
frame1_, transformedFrame1_, motion1to0(Rect(0,0,3,2)), frame1_.size(),
INTER_LINEAR, borderMode_);
// warp frame
frame1_ = at(neighbor, *frames_);
if (motionModel_ != HOMOGRAPHY)
warpAffine(
frame1_, transformedFrame1_, motion1to0(Rect(0,0,3,2)), frame1_.size(),
INTER_LINEAR, borderMode_);
else
warpPerspective(
frame1_, transformedFrame1_, motion1to0, frame1_.size(), INTER_LINEAR,
borderMode_);
cvtColor(transformedFrame1_, transformedGrayFrame1_, CV_BGR2GRAY);
warpAffine(
mask1_, transformedMask1_, motion1to0(Rect(0,0,3,2)), mask1_.size(),
INTER_NEAREST);
// warp mask
if (motionModel_ != HOMOGRAPHY)
warpAffine(
mask1_, transformedMask1_, motion1to0(Rect(0,0,3,2)), mask1_.size(),
INTER_NEAREST);
else
warpPerspective(mask1_, transformedMask1_, motion1to0, mask1_.size(), INTER_NEAREST);
erode(transformedMask1_, transformedMask1_, Mat());
// update flow
optFlowEstimator_->run(grayFrame_, transformedGrayFrame1_, flowX_, flowY_, flowErrors_);
calcFlowMask(

1
modules/videostab/src/precomp.hpp
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@ -54,6 +54,7 @@
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/video/video.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/calib3d/calib3d.hpp"
// some aux. functions

24
modules/videostab/src/stabilizer.cpp
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@ -71,6 +71,7 @@ void StabilizerBase::setUp(int cacheSize, const Mat &frame)
doInpainting_ = dynamic_cast<NullInpainter*>(inpainter) == 0;
if (doInpainting_)
{
inpainter_->setMotionModel(motionEstimator_->motionModel());
inpainter_->setFrames(frames_);
inpainter_->setMotions(motions_);
inpainter_->setStabilizedFrames(stabilizedFrames_);
@ -176,15 +177,26 @@ void StabilizerBase::stabilizeFrame(const Mat &stabilizationMotion)
preProcessedFrame_ = at(curStabilizedPos_, frames_);
// apply stabilization transformation
warpAffine(
preProcessedFrame_, at(curStabilizedPos_, stabilizedFrames_),
stabilizationMotion_(Rect(0,0,3,2)), frameSize_, INTER_LINEAR, borderMode_);
if (motionEstimator_->motionModel() != HOMOGRAPHY)
warpAffine(
preProcessedFrame_, at(curStabilizedPos_, stabilizedFrames_),
stabilizationMotion_(Rect(0,0,3,2)), frameSize_, INTER_LINEAR, borderMode_);
else
warpPerspective(
preProcessedFrame_, at(curStabilizedPos_, stabilizedFrames_),
stabilizationMotion_, frameSize_, INTER_LINEAR, borderMode_);
if (doInpainting_)
{
warpAffine(
frameMask_, at(curStabilizedPos_, stabilizedMasks_),
stabilizationMotion_(Rect(0,0,3,2)), frameSize_, INTER_NEAREST);
if (motionEstimator_->motionModel() != HOMOGRAPHY)
warpAffine(
frameMask_, at(curStabilizedPos_, stabilizedMasks_),
stabilizationMotion_(Rect(0,0,3,2)), frameSize_, INTER_NEAREST);
else
warpPerspective(
frameMask_, at(curStabilizedPos_, stabilizedMasks_),
stabilizationMotion_, frameSize_, INTER_NEAREST);
erode(at(curStabilizedPos_, stabilizedMasks_), at(curStabilizedPos_, stabilizedMasks_),
Mat());

10
samples/cpp/videostab.cpp
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@ -29,7 +29,7 @@ void run();
void saveMotionsIfNecessary();
void printHelp();
class GlobalMotionReader : public IGlobalMotionEstimator
class GlobalMotionReader : public GlobalMotionEstimatorBase
{
public:
GlobalMotionReader(string path)
@ -256,11 +256,11 @@ int main(int argc, const char **argv)
{
RansacParams ransac;
PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator();
Ptr<IGlobalMotionEstimator> est_(est);
Ptr<GlobalMotionEstimatorBase> est_(est);
if (arg("model") == "transl")
{
est->setMotionModel(TRANSLATION);
ransac = RansacParams::translationMotionStd();
ransac = RansacParams::translation2dMotionStd();
}
else if (arg("model") == "transl_and_scale")
{
@ -270,13 +270,13 @@ int main(int argc, const char **argv)
else if (arg("model") == "linear_sim")
{
est->setMotionModel(LINEAR_SIMILARITY);
ransac = RansacParams::linearSimilarityMotionStd();
ransac = RansacParams::linearSimilarity2dMotionStd();
}
else if (arg("model") == "affine")
{
est->setMotionModel(AFFINE);
ransac = RansacParams::affine2dMotionStd();
}
}
else
throw runtime_error("unknown motion model: " + arg("model"));
ransac.eps = argf("outlier-ratio");