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