Alexey Spizhevoy
13 years ago
parent
67d7669188
commit
68f26cca78
8 changed files with 254 additions and 256 deletions
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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/motion_filtering.hpp" |
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#include "opencv2/videostab/global_motion.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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GaussianMotionFilter::GaussianMotionFilter(int radius, float stdev) : radius_(radius) |
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{ |
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float sum = 0; |
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weight_.resize(2*radius_ + 1); |
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for (int i = -radius_; i <= radius_; ++i) |
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sum += weight_[radius_ + i] = std::exp(-i*i/(stdev*stdev)); |
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for (int i = -radius_; i <= radius_; ++i) |
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weight_[radius_ + i] /= sum; |
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} |
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Mat GaussianMotionFilter::apply(int idx, vector<Mat> &motions) const |
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{ |
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const Mat &cur = at(idx, motions); |
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Mat res = Mat::zeros(cur.size(), cur.type()); |
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float sum = 0.f; |
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for (int i = std::max(idx - radius_, 0); i <= idx + radius_; ++i) |
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{ |
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res += weight_[radius_ + i - idx] * getMotion(idx, i, motions); |
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sum += weight_[radius_ + i - idx]; |
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} |
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return res / sum; |
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} |
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} // namespace videostab
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} // namespace cv
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@ -0,0 +1,214 @@ |
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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/motion_stabilizing.hpp" |
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#include "opencv2/videostab/global_motion.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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GaussianMotionFilter::GaussianMotionFilter(int radius, float stdev) : radius_(radius) |
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{ |
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float sum = 0; |
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weight_.resize(2*radius_ + 1); |
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for (int i = -radius_; i <= radius_; ++i) |
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sum += weight_[radius_ + i] = std::exp(-i*i/(stdev*stdev)); |
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for (int i = -radius_; i <= radius_; ++i) |
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weight_[radius_ + i] /= sum; |
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} |
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Mat GaussianMotionFilter::apply(int idx, vector<Mat> &motions) const |
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{ |
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const Mat &cur = at(idx, motions); |
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Mat res = Mat::zeros(cur.size(), cur.type()); |
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float sum = 0.f; |
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for (int i = std::max(idx - radius_, 0); i <= idx + radius_; ++i) |
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{ |
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res += weight_[radius_ + i - idx] * getMotion(idx, i, motions); |
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sum += weight_[radius_ + i - idx]; |
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} |
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return res / sum; |
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} |
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static inline int areaSign(Point2f a, Point2f b, Point2f c) |
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{ |
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double area = (b-a).cross(c-a); |
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if (area < -1e-5) return -1; |
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if (area > 1e-5) return 1; |
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return 0; |
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} |
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static inline bool segmentsIntersect(Point2f a, Point2f b, Point2f c, Point2f d) |
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{ |
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return areaSign(a,b,c) * areaSign(a,b,d) < 0 && |
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areaSign(c,d,a) * areaSign(c,d,b) < 0; |
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} |
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// Checks if rect a (with sides parallel to axis) is inside rect b (arbitrary).
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// Rects must be passed in the [(0,0), (w,0), (w,h), (0,h)] order.
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static inline bool isRectInside(const Point2f a[4], const Point2f b[4]) |
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{ |
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for (int i = 0; i < 4; ++i) |
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if (b[i].x > a[0].x && b[i].x < a[2].x && b[i].y > a[0].y && b[i].y < a[2].y) |
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return false; |
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for (int i = 0; i < 4; ++i) |
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for (int j = 0; j < 4; ++j) |
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if (segmentsIntersect(a[i], a[(i+1)%4], b[j], b[(j+1)%4])) |
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return false; |
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return true; |
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} |
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static inline bool isGoodMotion(const float M[], float w, float h, float dx, float dy) |
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{ |
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Point2f pt[4] = {Point2f(0,0), Point2f(w,0), Point2f(w,h), Point2f(0,h)}; |
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Point2f Mpt[4]; |
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for (int i = 0; i < 4; ++i) |
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{ |
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Mpt[i].x = M[0]*pt[i].x + M[1]*pt[i].y + M[2]; |
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Mpt[i].y = M[3]*pt[i].x + M[4]*pt[i].y + M[5]; |
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} |
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pt[0] = Point2f(dx, dy); |
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pt[1] = Point2f(w - dx, dy); |
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pt[2] = Point2f(w - dx, h - dy); |
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pt[3] = Point2f(dx, h - dy); |
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return isRectInside(pt, Mpt); |
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} |
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static inline void relaxMotion(const float M[], float t, float res[]) |
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{ |
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res[0] = M[0]*(1.f-t) + t; |
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res[1] = M[1]*(1.f-t); |
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res[2] = M[2]*(1.f-t); |
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res[3] = M[3]*(1.f-t); |
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res[4] = M[4]*(1.f-t) + t; |
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res[5] = M[5]*(1.f-t); |
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} |
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Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio) |
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{ |
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CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F); |
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const float w = static_cast<float>(size.width); |
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const float h = static_cast<float>(size.height); |
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const float dx = floor(w * trimRatio); |
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const float dy = floor(h * trimRatio); |
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const float srcM[6] = |
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{M.at<float>(0,0), M.at<float>(0,1), M.at<float>(0,2), |
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M.at<float>(1,0), M.at<float>(1,1), M.at<float>(1,2)}; |
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float curM[6]; |
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float t = 0; |
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relaxMotion(srcM, t, curM); |
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if (isGoodMotion(curM, w, h, dx, dy)) |
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return M; |
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float l = 0, r = 1; |
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while (r - l > 1e-3f) |
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{ |
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t = (l + r) * 0.5f; |
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relaxMotion(srcM, t, curM); |
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if (isGoodMotion(curM, w, h, dx, dy)) |
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r = t; |
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else |
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l = t; |
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t = r; |
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relaxMotion(srcM, r, curM); |
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} |
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return (1 - r) * M + r * Mat::eye(3, 3, CV_32F); |
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} |
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// TODO can be estimated for O(1) time
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float estimateOptimalTrimRatio(const Mat &M, Size size) |
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{ |
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CV_Assert(M.size() == Size(3,3) && M.type() == CV_32F); |
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const float w = static_cast<float>(size.width); |
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const float h = static_cast<float>(size.height); |
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Mat_<float> M_(M); |
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Point2f pt[4] = {Point2f(0,0), Point2f(w,0), Point2f(w,h), Point2f(0,h)}; |
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Point2f Mpt[4]; |
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for (int i = 0; i < 4; ++i) |
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{ |
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Mpt[i].x = M_(0,0)*pt[i].x + M_(0,1)*pt[i].y + M_(0,2); |
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Mpt[i].y = M_(1,0)*pt[i].x + M_(1,1)*pt[i].y + M_(1,2); |
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} |
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float l = 0, r = 0.5f; |
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while (r - l > 1e-3f) |
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{ |
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float t = (l + r) * 0.5f; |
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float dx = floor(w * t); |
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float dy = floor(h * t); |
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pt[0] = Point2f(dx, dy); |
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pt[1] = Point2f(w - dx, dy); |
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pt[2] = Point2f(w - dx, h - dy); |
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pt[3] = Point2f(dx, h - dy); |
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if (isRectInside(pt, Mpt)) |
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r = t; |
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else |
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l = t; |
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} |
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return r; |
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} |
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} // namespace videostab
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} // namespace cv
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