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Updated wobble suppression code in videostab module

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This commit is contained in:
Alexey Spizhevoy
2012-04-06 08:52:31 +00:00
parent fa09f3d121
commit d9d4755387
5 changed files with 151 additions and 73 deletions
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modules/videostab/src/wobble_suppression.cpp
+51 -5
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@@ -51,8 +51,7 @@ namespace cv
namespace videostab
{
WobbleSuppressorBase::WobbleSuppressorBase()
: motions_(0), stabilizationMotions_(0)
WobbleSuppressorBase::WobbleSuppressorBase() : motions_(0), stabilizationMotions_(0)
{
PyrLkRobustMotionEstimator *est = new PyrLkRobustMotionEstimator();
est->setMotionModel(HOMOGRAPHY);
@@ -67,14 +66,61 @@ void NullWobbleSuppressor::suppress(int /*idx*/, const Mat &frame, Mat &result)
}
MoreAccurateMotionWobbleSuppressor::MoreAccurateMotionWobbleSuppressor()
{
setPeriod(30);
}
void MoreAccurateMotionWobbleSuppressor::suppress(int idx, const Mat &frame, Mat &result)
{
CV_Assert(motions_ && stabilizationMotions_);
// TODO implement
CV_Error(CV_StsNotImplemented, "MoreAccurateMotionWobbleSuppressor");
if (idx % period_ == 0)
{
result = frame;
return;
}
result = frame;
int k1 = idx / period_ * period_;
int k2 = std::min(k1 + period_, frameCount_ - 1);
Mat S1 = (*stabilizationMotions_)[idx];
Mat_<float> ML = S1 * getMotion(k1, idx, *motions2_) * getMotion(k1, idx, *motions_).inv() * S1.inv();
Mat_<float> MR = S1 * getMotion(idx, k2, *motions2_).inv() * getMotion(idx, k2, *motions_) * S1.inv();
mapx_.create(frame.size());
mapy_.create(frame.size());
float xl, yl, zl, wl;
float xr, yr, zr, wr;
for (int y = 0; y < frame.rows; ++y)
{
for (int x = 0; x < frame.cols; ++x)
{
xl = ML(0,0)*x + ML(0,1)*y + ML(0,2);
yl = ML(1,0)*x + ML(1,1)*y + ML(1,2);
zl = ML(2,0)*x + ML(2,1)*y + ML(2,2);
xl /= zl; yl /= zl;
wl = 1.f / (sqrt(sqr(x - xl) + sqr(y - yl)) + 1e-5f);
xr = MR(0,0)*x + MR(0,1)*y + MR(0,2);
yr = MR(1,0)*x + MR(1,1)*y + MR(1,2);
zr = MR(2,0)*x + MR(2,1)*y + MR(2,2);
xr /= zr; yr /= zr;
wr = 1.f / (sqrt(sqr(x - xr) + sqr(y - yr)) + 1e-5f);
mapx_(y,x) = (wl * xl + wr * xr) / (wl + wr);
mapy_(y,x) = (wl * yl + wr * yr) / (wl + wr);
}
}
if (result.data == frame.data)
result = Mat(frame.size(), frame.type());
remap(frame, result, mapx_, mapy_, INTER_LINEAR);
}
} // namespace videostab