Open Source Computer Vision Library https://opencv.org/
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/*M///////////////////////////////////////////////////////////////////////////////////////
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// License Agreement
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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#include "precomp.hpp"
#include "opencv2/videostab/wobble_suppression.hpp"
#include "opencv2/videostab/ring_buffer.hpp"
using namespace std;
namespace cv
{
namespace videostab
{
WobbleSuppressorBase::WobbleSuppressorBase() : motions_(0), stabilizationMotions_(0)
{
PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator();
est->setMotionModel(MM_HOMOGRAPHY);
est->setRansacParams(RansacParams::default2dMotion(MM_HOMOGRAPHY));
setMotionEstimator(est);
}
void NullWobbleSuppressor::suppress(int /*idx*/, const Mat &frame, Mat &result)
{
result = frame;
}
MoreAccurateMotionWobbleSuppressor::MoreAccurateMotionWobbleSuppressor()
{
setPeriod(30);
}
void MoreAccurateMotionWobbleSuppressor::suppress(int idx, const Mat &frame, Mat &result)
{
CV_Assert(motions_ && stabilizationMotions_);
if (idx % period_ == 0)
{
result = frame;
return;
}
int k1 = idx / period_ * period_;
int k2 = std::min(k1 + period_, frameCount_ - 1);
Mat S1 = (*stabilizationMotions_)[idx];
Mat_<float> ML = S1 * getMotion(k1, idx, *motions2_) * getMotion(k1, idx, *motions_).inv() * S1.inv();
Mat_<float> MR = S1 * getMotion(idx, k2, *motions2_).inv() * getMotion(idx, k2, *motions_) * S1.inv();
mapx_.create(frame.size());
mapy_.create(frame.size());
float xl, yl, zl, wl;
float xr, yr, zr, wr;
for (int y = 0; y < frame.rows; ++y)
{
for (int x = 0; x < frame.cols; ++x)
{
xl = ML(0,0)*x + ML(0,1)*y + ML(0,2);
yl = ML(1,0)*x + ML(1,1)*y + ML(1,2);
zl = ML(2,0)*x + ML(2,1)*y + ML(2,2);
xl /= zl; yl /= zl;
wl = idx - k1;
xr = MR(0,0)*x + MR(0,1)*y + MR(0,2);
yr = MR(1,0)*x + MR(1,1)*y + MR(1,2);
zr = MR(2,0)*x + MR(2,1)*y + MR(2,2);
xr /= zr; yr /= zr;
wr = k2 - idx;
mapx_(y,x) = (wr * xl + wl * xr) / (wl + wr);
mapy_(y,x) = (wr * yl + wl * yr) / (wl + wr);
}
}
if (result.data == frame.data)
result = Mat(frame.size(), frame.type());
remap(frame, result, mapx_, mapy_, INTER_LINEAR, BORDER_REPLICATE);
}
} // namespace videostab
} // namespace cv