#include #include #include #include #include #include "opencv2/core.hpp" #include #include "opencv2/video.hpp" #include "opencv2/imgproc.hpp" #include "opencv2/highgui.hpp" #include "opencv2/videostab.hpp" #include "opencv2/opencv_modules.hpp" #define arg(name) cmd.get(name) #define argb(name) cmd.get(name) #define argi(name) cmd.get(name) #define argf(name) cmd.get(name) #define argd(name) cmd.get(name) using namespace std; using namespace cv; using namespace cv::videostab; Ptr stabilizedFrames; string saveMotionsPath; double outputFps; string outputPath; bool quietMode; void run(); void saveMotionsIfNecessary(); void printHelp(); MotionModel motionModel(const string &str); void run() { VideoWriter writer; Mat stabilizedFrame; int nframes = 0; // for each stabilized frame while (!(stabilizedFrame = stabilizedFrames->nextFrame()).empty()) { nframes++; // init writer (once) and save stabilized frame if (!outputPath.empty()) { if (!writer.isOpened()) writer.open(outputPath, VideoWriter::fourcc('X','V','I','D'), outputFps, stabilizedFrame.size()); writer << stabilizedFrame; } // show stabilized frame if (!quietMode) { imshow("stabilizedFrame", stabilizedFrame); char key = static_cast(waitKey(3)); if (key == 27) { cout << endl; break; } } } cout << "processed frames: " << nframes << endl << "finished\n"; } void printHelp() { cout << "OpenCV video stabilizer.\n" "Usage: videostab [arguments]\n\n" "Arguments:\n" " -m, --model=(transl|transl_and_scale|rigid|similarity|affine|homography)\n" " Set motion model. The default is affine.\n" " -lp, --lin-prog-motion-est=(yes|no)\n" " Turn on/off LP based motion estimation. The default is no.\n" " --subset=(|auto)\n" " Number of random samples per one motion hypothesis. The default is auto.\n" " --thresh=(|auto)\n" " Maximum error to classify match as inlier. The default is auto.\n" " --outlier-ratio=\n" " Motion estimation outlier ratio hypothesis. The default is 0.5.\n" " --min-inlier-ratio=\n" " Minimum inlier ratio to decide if estimated motion is OK. The default is 0.1.\n" " --nkps=\n" " Number of keypoints to find in each frame. The default is 1000.\n" " --local-outlier-rejection=(yes|no)\n" " Perform local outlier rejection. The default is no.\n\n" " -sm, --save-motions=(|no)\n" " Save estimated motions into file. The default is no.\n" " -lm, --load-motions=(|no)\n" " Load motions from file. The default is no.\n\n" " -r, --radius=\n" " Set sliding window radius. The default is 15.\n" " --stdev=(|auto)\n" " Set smoothing weights standard deviation. The default is auto\n" " (i.e. sqrt(radius)).\n" " -lps, --lin-prog-stab=(yes|no)\n" " Turn on/off linear programming based stabilization method.\n" " --lps-trim-ratio=(|auto)\n" " Trimming ratio used in linear programming based method.\n" " --lps-w1=(|1)\n" " 1st derivative weight. The default is 1.\n" " --lps-w2=(|10)\n" " 2nd derivative weight. The default is 10.\n" " --lps-w3=(|100)\n" " 3rd derivative weight. The default is 100.\n" " --lps-w4=(|100)\n" " Non-translation motion components weight. The default is 100.\n\n" " --deblur=(yes|no)\n" " Do deblurring.\n" " --deblur-sens=\n" " Set deblurring sensitivity (from 0 to +inf). The default is 0.1.\n\n" " -t, --trim-ratio=\n" " Set trimming ratio (from 0 to 0.5). The default is 0.1.\n" " -et, --est-trim=(yes|no)\n" " Estimate trim ratio automatically. The default is yes.\n" " -ic, --incl-constr=(yes|no)\n" " Ensure the inclusion constraint is always satisfied. The default is no.\n\n" " -bm, --border-mode=(replicate|reflect|const)\n" " Set border extrapolation mode. The default is replicate.\n\n" " --mosaic=(yes|no)\n" " Do consistent mosaicing. The default is no.\n" " --mosaic-stdev=\n" " Consistent mosaicing stdev threshold. The default is 10.0.\n\n" " -mi, --motion-inpaint=(yes|no)\n" " Do motion inpainting (requires GPU support). The default is no.\n" " --mi-dist-thresh=\n" " Estimated flow distance threshold for motion inpainting. The default is 5.0.\n\n" " -ci, --color-inpaint=(no|average|ns|telea)\n" " Do color inpainting. The defailt is no.\n" " --ci-radius=\n" " Set color inpainting radius (for ns and telea options only).\n" " The default is 2.0\n\n" " -ws, --wobble-suppress=(yes|no)\n" " Perform wobble suppression. The default is no.\n" " --ws-lp=(yes|no)\n" " Turn on/off LP based motion estimation. The default is no.\n" " --ws-period=\n" " Set wobble suppression period. The default is 30.\n" " --ws-model=(transl|transl_and_scale|rigid|similarity|affine|homography)\n" " Set wobble suppression motion model (must have more DOF than motion \n" " estimation model). The default is homography.\n" " --ws-subset=(|auto)\n" " Number of random samples per one motion hypothesis. The default is auto.\n" " --ws-thresh=(|auto)\n" " Maximum error to classify match as inlier. The default is auto.\n" " --ws-outlier-ratio=\n" " Motion estimation outlier ratio hypothesis. The default is 0.5.\n" " --ws-min-inlier-ratio=\n" " Minimum inlier ratio to decide if estimated motion is OK. The default is 0.1.\n" " --ws-nkps=\n" " Number of keypoints to find in each frame. The default is 1000.\n" " --ws-local-outlier-rejection=(yes|no)\n" " Perform local outlier rejection. The default is no.\n\n" " -sm2, --save-motions2=(|no)\n" " Save motions estimated for wobble suppression. The default is no.\n" " -lm2, --load-motions2=(|no)\n" " Load motions for wobble suppression from file. The default is no.\n\n" " -gpu=(yes|no)\n" " Use GPU optimization whenever possible. The default is no.\n\n" " -o, --output=(no|)\n" " Set output file path explicitely. The default is stabilized.avi.\n" " --fps=(|auto)\n" " Set output video FPS explicitely. By default the source FPS is used (auto).\n" " -q, --quiet\n" " Don't show output video frames.\n\n" " -h, --help\n" " Print help.\n\n" "Note: some argument configurations lead to two passes, some to single pass.\n\n"; } // motion estimator builders are for concise creation of motion estimators class IMotionEstimatorBuilder { public: virtual ~IMotionEstimatorBuilder() {} virtual Ptr build() = 0; protected: IMotionEstimatorBuilder(CommandLineParser &command) : cmd(command) {} CommandLineParser cmd; }; class MotionEstimatorRansacL2Builder : public IMotionEstimatorBuilder { public: MotionEstimatorRansacL2Builder(CommandLineParser &command, bool use_gpu, const string &_prefix = "") : IMotionEstimatorBuilder(command), gpu(use_gpu), prefix(_prefix) {} virtual Ptr build() { MotionEstimatorRansacL2 *est = new MotionEstimatorRansacL2(motionModel(arg(prefix + "model"))); RansacParams ransac = est->ransacParams(); if (arg(prefix + "subset") != "auto") ransac.size = argi(prefix + "subset"); if (arg(prefix + "thresh") != "auto") ransac.thresh = argf(prefix + "thresh"); ransac.eps = argf(prefix + "outlier-ratio"); est->setRansacParams(ransac); est->setMinInlierRatio(argf(prefix + "min-inlier-ratio")); Ptr outlierRejector = new NullOutlierRejector(); if (arg(prefix + "local-outlier-rejection") == "yes") { TranslationBasedLocalOutlierRejector *tblor = new TranslationBasedLocalOutlierRejector(); RansacParams ransacParams = tblor->ransacParams(); if (arg(prefix + "thresh") != "auto") ransacParams.thresh = argf(prefix + "thresh"); tblor->setRansacParams(ransacParams); outlierRejector = tblor; } #ifdef HAVE_OPENCV_GPU if (gpu) { KeypointBasedMotionEstimatorGpu *kbest = new KeypointBasedMotionEstimatorGpu(est); kbest->setOutlierRejector(outlierRejector); return kbest; } #endif KeypointBasedMotionEstimator *kbest = new KeypointBasedMotionEstimator(est); kbest->setDetector(new GoodFeaturesToTrackDetector(argi(prefix + "nkps"))); kbest->setOutlierRejector(outlierRejector); return kbest; } private: bool gpu; string prefix; }; class MotionEstimatorL1Builder : public IMotionEstimatorBuilder { public: MotionEstimatorL1Builder(CommandLineParser &command, bool use_gpu, const string &_prefix = "") : IMotionEstimatorBuilder(command), gpu(use_gpu), prefix(_prefix) {} virtual Ptr build() { MotionEstimatorL1 *est = new MotionEstimatorL1(motionModel(arg(prefix + "model"))); Ptr outlierRejector = new NullOutlierRejector(); if (arg(prefix + "local-outlier-rejection") == "yes") { TranslationBasedLocalOutlierRejector *tblor = new TranslationBasedLocalOutlierRejector(); RansacParams ransacParams = tblor->ransacParams(); if (arg(prefix + "thresh") != "auto") ransacParams.thresh = argf(prefix + "thresh"); tblor->setRansacParams(ransacParams); outlierRejector = tblor; } #ifdef HAVE_OPENCV_GPU if (gpu) { KeypointBasedMotionEstimatorGpu *kbest = new KeypointBasedMotionEstimatorGpu(est); kbest->setOutlierRejector(outlierRejector); return kbest; } #endif KeypointBasedMotionEstimator *kbest = new KeypointBasedMotionEstimator(est); kbest->setDetector(new GoodFeaturesToTrackDetector(argi(prefix + "nkps"))); kbest->setOutlierRejector(outlierRejector); return kbest; } private: bool gpu; string prefix; }; int main(int argc, const char **argv) { try { const char *keys = "{ @1 | | }" "{ m model | affine | }" "{ lp lin-prog-motion-est | no | }" "{ subset | auto | }" "{ thresh | auto | }" "{ outlier-ratio | 0.5 | }" "{ min-inlier-ratio | 0.1 | }" "{ nkps | 1000 | }" "{ extra-kps | 0 | }" "{ local-outlier-rejection | no | }" "{ sm save-motions | no | }" "{ lm load-motions | no | }" "{ r radius | 15 | }" "{ stdev | auto | }" "{ lps lin-prog-stab | no | }" "{ lps-trim-ratio | auto | }" "{ lps-w1 | 1 | }" "{ lps-w2 | 10 | }" "{ lps-w3 | 100 | }" "{ lps-w4 | 100 | }" "{ deblur | no | }" "{ deblur-sens | 0.1 | }" "{ et est-trim | yes | }" "{ t trim-ratio | 0.1 | }" "{ ic incl-constr | no | }" "{ bm border-mode | replicate | }" "{ mosaic | no | }" "{ ms mosaic-stdev | 10.0 | }" "{ mi motion-inpaint | no | }" "{ mi-dist-thresh | 5.0 | }" "{ ci color-inpaint | no | }" "{ ci-radius | 2 | }" "{ ws wobble-suppress | no | }" "{ ws-period | 30 | }" "{ ws-model | homography | }" "{ ws-subset | auto | }" "{ ws-thresh | auto | }" "{ ws-outlier-ratio | 0.5 | }" "{ ws-min-inlier-ratio | 0.1 | }" "{ ws-nkps | 1000 | }" "{ ws-extra-kps | 0 | }" "{ ws-local-outlier-rejection | no | }" "{ ws-lp | no | }" "{ sm2 save-motions2 | no | }" "{ lm2 load-motions2 | no | }" "{ gpu | no | }" "{ o output | stabilized.avi | }" "{ fps | auto | }" "{ q quiet | | }" "{ h help | | }"; CommandLineParser cmd(argc, argv, keys); // parse command arguments if (argb("help")) { printHelp(); return 0; } #ifdef HAVE_OPENCV_GPU if (arg("gpu") == "yes") { cout << "initializing GPU..."; cout.flush(); Mat hostTmp = Mat::zeros(1, 1, CV_32F); gpu::GpuMat deviceTmp; deviceTmp.upload(hostTmp); cout << endl; } #endif StabilizerBase *stabilizer = 0; // check if source video is specified string inputPath = arg(0); if (inputPath.empty()) throw runtime_error("specify video file path"); // get source video parameters VideoFileSource *source = new VideoFileSource(inputPath); cout << "frame count (rough): " << source->count() << endl; if (arg("fps") == "auto") outputFps = source->fps(); else outputFps = argd("fps"); // prepare motion estimation builders Ptr motionEstBuilder; if (arg("lin-prog-motion-est") == "yes") motionEstBuilder = new MotionEstimatorL1Builder(cmd, arg("gpu") == "yes"); else motionEstBuilder = new MotionEstimatorRansacL2Builder(cmd, arg("gpu") == "yes"); Ptr wsMotionEstBuilder; if (arg("ws-lp") == "yes") wsMotionEstBuilder = new MotionEstimatorL1Builder(cmd, arg("gpu") == "yes", "ws-"); else wsMotionEstBuilder = new MotionEstimatorRansacL2Builder(cmd, arg("gpu") == "yes", "ws-"); // determine whether we must use one pass or two pass stabilizer bool isTwoPass = arg("est-trim") == "yes" || arg("wobble-suppress") == "yes" || arg("lin-prog-stab") == "yes"; if (isTwoPass) { // we must use two pass stabilizer TwoPassStabilizer *twoPassStabilizer = new TwoPassStabilizer(); stabilizer = twoPassStabilizer; twoPassStabilizer->setEstimateTrimRatio(arg("est-trim") == "yes"); // determine stabilization technique if (arg("lin-prog-stab") == "yes") { LpMotionStabilizer *stab = new LpMotionStabilizer(); stab->setFrameSize(Size(source->width(), source->height())); stab->setTrimRatio(arg("lps-trim-ratio") == "auto" ? argf("trim-ratio") : argf("lps-trim-ratio")); stab->setWeight1(argf("lps-w1")); stab->setWeight2(argf("lps-w2")); stab->setWeight3(argf("lps-w3")); stab->setWeight4(argf("lps-w4")); twoPassStabilizer->setMotionStabilizer(stab); } else if (arg("stdev") == "auto") twoPassStabilizer->setMotionStabilizer(new GaussianMotionFilter(argi("radius"))); else twoPassStabilizer->setMotionStabilizer(new GaussianMotionFilter(argi("radius"), argf("stdev"))); // init wobble suppressor if necessary if (arg("wobble-suppress") == "yes") { MoreAccurateMotionWobbleSuppressorBase *ws = new MoreAccurateMotionWobbleSuppressor(); if (arg("gpu") == "yes") #ifdef HAVE_OPENCV_GPU ws = new MoreAccurateMotionWobbleSuppressorGpu(); #else throw runtime_error("OpenCV is built without GPU support"); #endif ws->setMotionEstimator(wsMotionEstBuilder->build()); ws->setPeriod(argi("ws-period")); twoPassStabilizer->setWobbleSuppressor(ws); MotionModel model = ws->motionEstimator()->motionModel(); if (arg("load-motions2") != "no") { ws->setMotionEstimator(new FromFileMotionReader(arg("load-motions2"))); ws->motionEstimator()->setMotionModel(model); } if (arg("save-motions2") != "no") { ws->setMotionEstimator(new ToFileMotionWriter(arg("save-motions2"), ws->motionEstimator())); ws->motionEstimator()->setMotionModel(model); } } } else { // we must use one pass stabilizer OnePassStabilizer *onePassStabilizer = new OnePassStabilizer(); stabilizer = onePassStabilizer; if (arg("stdev") == "auto") onePassStabilizer->setMotionFilter(new GaussianMotionFilter(argi("radius"))); else onePassStabilizer->setMotionFilter(new GaussianMotionFilter(argi("radius"), argf("stdev"))); } stabilizer->setFrameSource(source); stabilizer->setMotionEstimator(motionEstBuilder->build()); // cast stabilizer to simple frame source interface to read stabilized frames stabilizedFrames = dynamic_cast(stabilizer); MotionModel model = stabilizer->motionEstimator()->motionModel(); if (arg("load-motions") != "no") { stabilizer->setMotionEstimator(new FromFileMotionReader(arg("load-motions"))); stabilizer->motionEstimator()->setMotionModel(model); } if (arg("save-motions") != "no") { stabilizer->setMotionEstimator(new ToFileMotionWriter(arg("save-motions"), stabilizer->motionEstimator())); stabilizer->motionEstimator()->setMotionModel(model); } stabilizer->setRadius(argi("radius")); // init deblurer if (arg("deblur") == "yes") { WeightingDeblurer *deblurer = new WeightingDeblurer(); deblurer->setRadius(argi("radius")); deblurer->setSensitivity(argf("deblur-sens")); stabilizer->setDeblurer(deblurer); } // set up trimming paramters stabilizer->setTrimRatio(argf("trim-ratio")); stabilizer->setCorrectionForInclusion(arg("incl-constr") == "yes"); if (arg("border-mode") == "reflect") stabilizer->setBorderMode(BORDER_REFLECT); else if (arg("border-mode") == "replicate") stabilizer->setBorderMode(BORDER_REPLICATE); else if (arg("border-mode") == "const") stabilizer->setBorderMode(BORDER_CONSTANT); else throw runtime_error("unknown border extrapolation mode: " + cmd.get("border-mode")); // init inpainter InpaintingPipeline *inpainters = new InpaintingPipeline(); Ptr inpainters_(inpainters); if (arg("mosaic") == "yes") { ConsistentMosaicInpainter *inp = new ConsistentMosaicInpainter(); inp->setStdevThresh(argf("mosaic-stdev")); inpainters->pushBack(inp); } if (arg("motion-inpaint") == "yes") { MotionInpainter *inp = new MotionInpainter(); inp->setDistThreshold(argf("mi-dist-thresh")); inpainters->pushBack(inp); } if (arg("color-inpaint") == "average") inpainters->pushBack(new ColorAverageInpainter()); else if (arg("color-inpaint") == "ns") inpainters->pushBack(new ColorInpainter(INPAINT_NS, argd("ci-radius"))); else if (arg("color-inpaint") == "telea") inpainters->pushBack(new ColorInpainter(INPAINT_TELEA, argd("ci-radius"))); else if (arg("color-inpaint") != "no") throw runtime_error("unknown color inpainting method: " + arg("color-inpaint")); if (!inpainters->empty()) { inpainters->setRadius(argi("radius")); stabilizer->setInpainter(inpainters_); } if (arg("output") != "no") outputPath = arg("output"); quietMode = argb("quiet"); run(); } catch (const exception &e) { cout << "error: " << e.what() << endl; stabilizedFrames.release(); return -1; } stabilizedFrames.release(); return 0; } MotionModel motionModel(const string &str) { if (str == "transl") return MM_TRANSLATION; if (str == "transl_and_scale") return MM_TRANSLATION_AND_SCALE; if (str == "rigid") return MM_RIGID; if (str == "similarity") return MM_SIMILARITY; if (str == "affine") return MM_AFFINE; if (str == "homography") return MM_HOMOGRAPHY; throw runtime_error("unknown motion model: " + str); }