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128 lines
4.3 KiB
128 lines
4.3 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
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// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// and/or other materials provided with the distribution. |
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// |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// |
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// This software is provided by the copyright holders and contributors "as is" and |
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// any express or implied warranties, including, but not limited to, the implied |
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// warranties of merchantability and fitness for a particular purpose are disclaimed. |
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// In no event shall the Intel Corporation or contributors be liable for any direct, |
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// indirect, incidental, special, exemplary, or consequential damages |
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// (including, but not limited to, procurement of substitute goods or services; |
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// loss of use, data, or profits; or business interruption) however caused |
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// and on any theory of liability, whether in contract, strict liability, |
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// or tort (including negligence or otherwise) arising in any way out of |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#include "precomp.hpp" |
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#include "opencv2/videostab/wobble_suppression.hpp" |
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#include "opencv2/videostab/ring_buffer.hpp" |
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using namespace std; |
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namespace cv |
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{ |
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namespace videostab |
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{ |
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WobbleSuppressorBase::WobbleSuppressorBase() : motions_(0), stabilizationMotions_(0) |
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{ |
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PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator(); |
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est->setMotionModel(MM_HOMOGRAPHY); |
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est->setRansacParams(RansacParams::default2dMotion(MM_HOMOGRAPHY)); |
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setMotionEstimator(est); |
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} |
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void NullWobbleSuppressor::suppress(int /*idx*/, const Mat &frame, Mat &result) |
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{ |
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result = frame; |
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} |
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MoreAccurateMotionWobbleSuppressor::MoreAccurateMotionWobbleSuppressor() |
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{ |
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setPeriod(30); |
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} |
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void MoreAccurateMotionWobbleSuppressor::suppress(int idx, const Mat &frame, Mat &result) |
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{ |
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CV_Assert(motions_ && stabilizationMotions_); |
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if (idx % period_ == 0) |
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{ |
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result = frame; |
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return; |
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} |
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int k1 = idx / period_ * period_; |
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int k2 = std::min(k1 + period_, frameCount_ - 1); |
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Mat S1 = (*stabilizationMotions_)[idx]; |
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Mat_<float> ML = S1 * getMotion(k1, idx, *motions2_) * getMotion(k1, idx, *motions_).inv() * S1.inv(); |
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Mat_<float> MR = S1 * getMotion(idx, k2, *motions2_).inv() * getMotion(idx, k2, *motions_) * S1.inv(); |
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mapx_.create(frame.size()); |
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mapy_.create(frame.size()); |
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float xl, yl, zl, wl; |
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float xr, yr, zr, wr; |
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for (int y = 0; y < frame.rows; ++y) |
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{ |
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for (int x = 0; x < frame.cols; ++x) |
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{ |
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xl = ML(0,0)*x + ML(0,1)*y + ML(0,2); |
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yl = ML(1,0)*x + ML(1,1)*y + ML(1,2); |
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zl = ML(2,0)*x + ML(2,1)*y + ML(2,2); |
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xl /= zl; yl /= zl; |
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wl = idx - k1; |
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xr = MR(0,0)*x + MR(0,1)*y + MR(0,2); |
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yr = MR(1,0)*x + MR(1,1)*y + MR(1,2); |
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zr = MR(2,0)*x + MR(2,1)*y + MR(2,2); |
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xr /= zr; yr /= zr; |
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wr = k2 - idx; |
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mapx_(y,x) = (wr * xl + wl * xr) / (wl + wr); |
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mapy_(y,x) = (wr * yl + wl * yr) / (wl + wr); |
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} |
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} |
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if (result.data == frame.data) |
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result = Mat(frame.size(), frame.type()); |
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remap(frame, result, mapx_, mapy_, INTER_LANCZOS4, BORDER_REPLICATE); |
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} |
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} // namespace videostab |
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} // namespace cv |
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