1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #ifndef __OPENCV_VIDEOSTAB_MOTION_STABILIZING_HPP__ 44 #define __OPENCV_VIDEOSTAB_MOTION_STABILIZING_HPP__ 45 46 #include <vector> 47 #include <utility> 48 #include "opencv2/core.hpp" 49 #include "opencv2/videostab/global_motion.hpp" 50 51 namespace cv 52 { 53 namespace videostab 54 { 55 56 //! @addtogroup videostab_motion 57 //! @{ 58 59 class CV_EXPORTS IMotionStabilizer 60 { 61 public: 62 virtual ~IMotionStabilizer() {} 63 64 //! assumes that [0, size-1) is in or equals to [range.first, range.second) 65 virtual void stabilize( 66 int size, const std::vector<Mat> &motions, std::pair<int,int> range, 67 Mat *stabilizationMotions) = 0; 68 }; 69 70 class CV_EXPORTS MotionStabilizationPipeline : public IMotionStabilizer 71 { 72 public: 73 void pushBack(Ptr<IMotionStabilizer> stabilizer) { stabilizers_.push_back(stabilizer); } 74 bool empty() const { return stabilizers_.empty(); } 75 76 virtual void stabilize( 77 int size, const std::vector<Mat> &motions, std::pair<int,int> range, 78 Mat *stabilizationMotions); 79 80 private: 81 std::vector<Ptr<IMotionStabilizer> > stabilizers_; 82 }; 83 84 class CV_EXPORTS MotionFilterBase : public IMotionStabilizer 85 { 86 public: 87 virtual ~MotionFilterBase() {} 88 89 virtual Mat stabilize( 90 int idx, const std::vector<Mat> &motions, std::pair<int,int> range) = 0; 91 92 virtual void stabilize( 93 int size, const std::vector<Mat> &motions, std::pair<int,int> range, 94 Mat *stabilizationMotions); 95 }; 96 97 class CV_EXPORTS GaussianMotionFilter : public MotionFilterBase 98 { 99 public: 100 GaussianMotionFilter(int radius = 15, float stdev = -1.f); 101 102 void setParams(int radius, float stdev = -1.f); 103 int radius() const { return radius_; } 104 float stdev() const { return stdev_; } 105 106 virtual Mat stabilize( 107 int idx, const std::vector<Mat> &motions, std::pair<int,int> range); 108 109 private: 110 int radius_; 111 float stdev_; 112 std::vector<float> weight_; 113 }; 114 115 inline GaussianMotionFilter::GaussianMotionFilter(int _radius, float _stdev) { setParams(_radius, _stdev); } 116 117 class CV_EXPORTS LpMotionStabilizer : public IMotionStabilizer 118 { 119 public: 120 LpMotionStabilizer(MotionModel model = MM_SIMILARITY); 121 122 void setMotionModel(MotionModel val) { model_ = val; } 123 MotionModel motionModel() const { return model_; } 124 125 void setFrameSize(Size val) { frameSize_ = val; } 126 Size frameSize() const { return frameSize_; } 127 128 void setTrimRatio(float val) { trimRatio_ = val; } 129 float trimRatio() const { return trimRatio_; } 130 131 void setWeight1(float val) { w1_ = val; } 132 float weight1() const { return w1_; } 133 134 void setWeight2(float val) { w2_ = val; } 135 float weight2() const { return w2_; } 136 137 void setWeight3(float val) { w3_ = val; } 138 float weight3() const { return w3_; } 139 140 void setWeight4(float val) { w4_ = val; } 141 float weight4() const { return w4_; } 142 143 virtual void stabilize( 144 int size, const std::vector<Mat> &motions, std::pair<int,int> range, 145 Mat *stabilizationMotions); 146 147 private: 148 MotionModel model_; 149 Size frameSize_; 150 float trimRatio_; 151 float w1_, w2_, w3_, w4_; 152 153 std::vector<double> obj_, collb_, colub_; 154 std::vector<int> rows_, cols_; 155 std::vector<double> elems_, rowlb_, rowub_; 156 157 void set(int row, int col, double coef) 158 { 159 rows_.push_back(row); 160 cols_.push_back(col); 161 elems_.push_back(coef); 162 } 163 }; 164 165 CV_EXPORTS Mat ensureInclusionConstraint(const Mat &M, Size size, float trimRatio); 166 167 CV_EXPORTS float estimateOptimalTrimRatio(const Mat &M, Size size); 168 169 //! @} 170 171 } // namespace videostab 172 } // namespace 173 174 #endif 175
