pull/2/head
Alexey Spizhevoy
13 years ago
parent
6e830cf8f8
commit
95efec7539
9 changed files with 631 additions and 154 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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#ifndef __OPENCV_VIDEOSTAB_MOTION_CORE_HPP__ |
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#define __OPENCV_VIDEOSTAB_MOTION_CORE_HPP__ |
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#include <cmath> |
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#include "opencv2/core/core.hpp" |
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namespace cv |
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{ |
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namespace videostab |
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{ |
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enum MotionModel |
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{ |
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MM_TRANSLATION = 0, |
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MM_TRANSLATION_AND_SCALE = 1, |
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MM_RIGID = 2, |
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MM_SIMILARITY = 3, |
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MM_AFFINE = 4, |
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MM_HOMOGRAPHY = 5, |
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MM_UNKNOWN = 6 |
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}; |
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struct CV_EXPORTS RansacParams |
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{ |
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int size; // subset size
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float thresh; // max error to classify as inlier
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float eps; // max outliers ratio
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float prob; // probability of success
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RansacParams() : size(0), thresh(0), eps(0), prob(0) {} |
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RansacParams(int size, float thresh, float eps, float prob) |
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: size(size), thresh(thresh), eps(eps), prob(prob) {} |
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int niters() const |
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{ |
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return static_cast<int>( |
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std::ceil(std::log(1 - prob) / std::log(1 - std::pow(1 - eps, size)))); |
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} |
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static RansacParams default2dMotion(MotionModel model) |
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{ |
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CV_Assert(model < MM_UNKNOWN); |
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if (model == MM_TRANSLATION) |
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return RansacParams(1, 0.5f, 0.5f, 0.99f); |
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if (model == MM_TRANSLATION_AND_SCALE) |
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return RansacParams(2, 0.5f, 0.5f, 0.99f); |
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if (model == MM_RIGID) |
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return RansacParams(2, 0.5f, 0.5f, 0.99f); |
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if (model == MM_SIMILARITY) |
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return RansacParams(2, 0.5f, 0.5f, 0.99f); |
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if (model == MM_AFFINE) |
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return RansacParams(3, 0.5f, 0.5f, 0.99f); |
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return RansacParams(4, 0.5f, 0.5f, 0.99f); |
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} |
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}; |
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} // namespace videostab
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} // namespace cv
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#endif |
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@ -0,0 +1,96 @@ |
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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.
|
||||
// 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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// 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.
|
||||
// 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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//
|
||||
// * 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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// * 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
|
||||
// (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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#ifndef __OPENCV_VIDEOSTAB_OUTLIER_REJECTION_HPP__ |
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#define __OPENCV_VIDEOSTAB_OUTLIER_REJECTION_HPP__ |
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#include <vector> |
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#include "opencv2/core/core.hpp" |
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#include "opencv2/videostab/motion_core.hpp" |
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namespace cv |
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{ |
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namespace videostab |
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{ |
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class CV_EXPORTS IOutlierRejector |
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{ |
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public: |
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virtual ~IOutlierRejector() {} |
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virtual void process( |
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Size frameSize, InputArray points0, InputArray points1, OutputArray mask) = 0; |
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}; |
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class CV_EXPORTS NullOutlierRejector : public IOutlierRejector |
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{ |
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public: |
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virtual void process( |
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Size frameSize, InputArray points0, InputArray points1, OutputArray mask); |
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}; |
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class CV_EXPORTS TranslationBasedLocalOutlierRejector : public IOutlierRejector |
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{ |
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public: |
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TranslationBasedLocalOutlierRejector(); |
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void setCellSize(Size val) { cellSize_ = val; } |
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Size cellSize() const { return cellSize_; } |
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void setRansacParams(RansacParams val) { ransacParams_ = val; } |
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RansacParams ransacParams() const { return ransacParams_; } |
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virtual void process( |
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Size frameSize, InputArray points0, InputArray points1, OutputArray mask); |
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private: |
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Size cellSize_; |
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RansacParams ransacParams_; |
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typedef std::vector<int> Cell; |
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std::vector<Cell> grid_; |
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}; |
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} // namespace videostab
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} // namespace cv
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#endif |
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@ -0,0 +1,201 @@ |
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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/core/core.hpp" |
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#include "opencv2/videostab/outlier_rejection.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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void NullOutlierRejector::process( |
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Size frameSize, InputArray points0, InputArray points1, OutputArray mask) |
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{ |
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CV_Assert(points0.type() == points1.type()); |
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CV_Assert(points0.getMat().checkVector(2) == points1.getMat().checkVector(2)); |
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int npoints = points0.getMat().checkVector(2); |
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mask.create(1, npoints, CV_8U); |
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Mat mask_ = mask.getMat(); |
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mask_.setTo(1); |
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} |
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TranslationBasedLocalOutlierRejector::TranslationBasedLocalOutlierRejector() |
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{ |
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setCellSize(Size(50, 50)); |
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setRansacParams(RansacParams::default2dMotion(MM_TRANSLATION)); |
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} |
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void TranslationBasedLocalOutlierRejector::process( |
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Size frameSize, InputArray points0, InputArray points1, OutputArray mask) |
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{ |
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CV_Assert(points0.type() == points1.type()); |
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CV_Assert(points0.getMat().checkVector(2) == points1.getMat().checkVector(2)); |
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int npoints = points0.getMat().checkVector(2); |
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const Point2f* points0_ = points0.getMat().ptr<Point2f>(); |
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const Point2f* points1_ = points1.getMat().ptr<Point2f>(); |
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mask.create(1, npoints, CV_8U); |
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uchar* mask_ = mask.getMat().ptr<uchar>(); |
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Size ncells((frameSize.width + cellSize_.width - 1) / cellSize_.width, |
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(frameSize.height + cellSize_.height - 1) / cellSize_.height); |
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int cx, cy; |
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// fill grid cells
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grid_.assign(ncells.area(), Cell()); |
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for (int i = 0; i < npoints; ++i) |
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{ |
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cx = std::min(cvRound(points0_[i].x / cellSize_.width), ncells.width - 1); |
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cy = std::min(cvRound(points0_[i].y / cellSize_.height), ncells.height - 1); |
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grid_[cy * ncells.width + cx].push_back(i); |
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} |
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// process each cell
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RNG rng(0); |
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int niters = ransacParams_.niters(); |
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int ninliers, ninliersMax; |
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vector<int> inliers; |
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float dx, dy, dxBest, dyBest; |
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float x1, y1; |
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int idx; |
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for (size_t ci = 0; ci < grid_.size(); ++ci) |
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{ |
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// estimate translation model at the current cell using RANSAC
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const Cell &cell = grid_[ci]; |
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ninliersMax = 0; |
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dxBest = dyBest = 0.f; |
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// find the best hypothesis
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if (!cell.empty()) |
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{ |
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for (int iter = 0; iter < niters; ++iter) |
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{ |
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idx = cell[static_cast<unsigned>(rng) % cell.size()]; |
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dx = points1_[idx].x - points0_[idx].x; |
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dy = points1_[idx].y - points0_[idx].y; |
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ninliers = 0; |
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for (size_t i = 0; i < cell.size(); ++i) |
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{ |
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x1 = points0_[cell[i]].x + dx; |
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y1 = points0_[cell[i]].y + dy; |
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if (sqr(x1 - points1_[cell[i]].x) + sqr(y1 - points1_[cell[i]].y) < |
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sqr(ransacParams_.thresh)) |
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{ |
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ninliers++; |
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} |
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} |
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if (ninliers > ninliersMax) |
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{ |
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ninliersMax = ninliers; |
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dxBest = dx; |
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dyBest = dy; |
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} |
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} |
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} |
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// get the best hypothesis inliers
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ninliers = 0; |
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inliers.resize(ninliersMax); |
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for (size_t i = 0; i < cell.size(); ++i) |
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{ |
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x1 = points0_[cell[i]].x + dxBest; |
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y1 = points0_[cell[i]].y + dyBest; |
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if (sqr(x1 - points1_[cell[i]].x) + sqr(y1 - points1_[cell[i]].y) < |
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sqr(ransacParams_.thresh)) |
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{ |
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inliers[ninliers++] = cell[i]; |
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} |
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} |
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// refine the best hypothesis
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dxBest = dyBest = 0.f; |
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for (size_t i = 0; i < inliers.size(); ++i) |
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{ |
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dxBest += points1_[inliers[i]].x - points0_[inliers[i]].x; |
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dyBest += points1_[inliers[i]].y - points0_[inliers[i]].y; |
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} |
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if (!inliers.empty()) |
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{ |
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dxBest /= inliers.size(); |
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dyBest /= inliers.size(); |
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} |
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// set mask elements for refined model inliers
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for (size_t i = 0; i < cell.size(); ++i) |
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{ |
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x1 = points0_[cell[i]].x + dxBest; |
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y1 = points0_[cell[i]].y + dyBest; |
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if (sqr(x1 - points1_[cell[i]].x) + sqr(y1 - points1_[cell[i]].y) < |
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sqr(ransacParams_.thresh)) |
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{ |
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mask_[cell[i]] = 1; |
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} |
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else |
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{ |
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mask_[cell[i]] = 0; |
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} |
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} |
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} |
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} |
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} // namespace videostab
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} // namespace cv
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