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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "opencv2/videostab/wobble_suppression.hpp"
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#include "opencv2/videostab/ring_buffer.hpp"
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using namespace std;
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namespace cv
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{
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namespace videostab
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{
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WobbleSuppressorBase::WobbleSuppressorBase() : motions_(0), stabilizationMotions_(0)
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{
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PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator();
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est->setMotionModel(MM_HOMOGRAPHY);
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est->setRansacParams(RansacParams::default2dMotion(MM_HOMOGRAPHY));
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setMotionEstimator(est);
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}
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void NullWobbleSuppressor::suppress(int /*idx*/, const Mat &frame, Mat &result)
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{
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result = frame;
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}
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MoreAccurateMotionWobbleSuppressor::MoreAccurateMotionWobbleSuppressor()
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{
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setPeriod(30);
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}
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void MoreAccurateMotionWobbleSuppressor::suppress(int idx, const Mat &frame, Mat &result)
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{
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CV_Assert(motions_ && stabilizationMotions_);
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if (idx % period_ == 0)
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{
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result = frame;
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return;
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}
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int k1 = idx / period_ * period_;
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int k2 = std::min(k1 + period_, frameCount_ - 1);
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Mat S1 = (*stabilizationMotions_)[idx];
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Mat_<float> ML = S1 * getMotion(k1, idx, *motions2_) * getMotion(k1, idx, *motions_).inv() * S1.inv();
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Mat_<float> MR = S1 * getMotion(idx, k2, *motions2_).inv() * getMotion(idx, k2, *motions_) * S1.inv();
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mapx_.create(frame.size());
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mapy_.create(frame.size());
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float xl, yl, zl, wl;
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float xr, yr, zr, wr;
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for (int y = 0; y < frame.rows; ++y)
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{
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for (int x = 0; x < frame.cols; ++x)
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{
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xl = ML(0,0)*x + ML(0,1)*y + ML(0,2);
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yl = ML(1,0)*x + ML(1,1)*y + ML(1,2);
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zl = ML(2,0)*x + ML(2,1)*y + ML(2,2);
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xl /= zl; yl /= zl;
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wl = idx - k1;
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xr = MR(0,0)*x + MR(0,1)*y + MR(0,2);
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yr = MR(1,0)*x + MR(1,1)*y + MR(1,2);
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zr = MR(2,0)*x + MR(2,1)*y + MR(2,2);
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xr /= zr; yr /= zr;
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wr = k2 - idx;
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mapx_(y,x) = (wr * xl + wl * xr) / (wl + wr);
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mapy_(y,x) = (wr * yl + wl * yr) / (wl + wr);
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}
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}
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if (result.data == frame.data)
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result = Mat(frame.size(), frame.type());
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remap(frame, result, mapx_, mapy_, INTER_LINEAR, BORDER_REPLICATE);
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}
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} // namespace videostab
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} // namespace cv
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