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Diffstat (limited to 'thirdparty1/linux/include/opencv2/videostab/global_motion.hpp')
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diff --git a/thirdparty1/linux/include/opencv2/videostab/global_motion.hpp b/thirdparty1/linux/include/opencv2/videostab/global_motion.hpp new file mode 100644 index 0000000..80b147a --- /dev/null +++ b/thirdparty1/linux/include/opencv2/videostab/global_motion.hpp @@ -0,0 +1,299 @@ +/*M/////////////////////////////////////////////////////////////////////////////////////// +// +// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. +// +// By downloading, copying, installing or using the software you agree to this license. +// If you do not agree to this license, do not download, install, +// copy or use the software. +// +// +// License Agreement +// For Open Source Computer Vision Library +// +// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. +// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved. +// Third party copyrights are property of their respective owners. +// +// Redistribution and use in source and binary forms, with or without modification, +// are permitted provided that the following conditions are met: +// +// * Redistribution's of source code must retain the above copyright notice, +// this list of conditions and the following disclaimer. +// +// * Redistribution's in binary form must reproduce the above copyright notice, +// this list of conditions and the following disclaimer in the documentation +// and/or other materials provided with the distribution. +// +// * The name of the copyright holders may not be used to endorse or promote products +// derived from this software without specific prior written permission. +// +// This software is provided by the copyright holders and contributors "as is" and +// any express or implied warranties, including, but not limited to, the implied +// warranties of merchantability and fitness for a particular purpose are disclaimed. +// In no event shall the Intel Corporation or contributors be liable for any direct, +// indirect, incidental, special, exemplary, or consequential damages +// (including, but not limited to, procurement of substitute goods or services; +// loss of use, data, or profits; or business interruption) however caused +// and on any theory of liability, whether in contract, strict liability, +// or tort (including negligence or otherwise) arising in any way out of +// the use of this software, even if advised of the possibility of such damage. +// +//M*/ + +#ifndef OPENCV_VIDEOSTAB_GLOBAL_MOTION_HPP +#define OPENCV_VIDEOSTAB_GLOBAL_MOTION_HPP + +#include <vector> +#include <fstream> +#include "opencv2/core.hpp" +#include "opencv2/features2d.hpp" +#include "opencv2/opencv_modules.hpp" +#include "opencv2/videostab/optical_flow.hpp" +#include "opencv2/videostab/motion_core.hpp" +#include "opencv2/videostab/outlier_rejection.hpp" + +#ifdef HAVE_OPENCV_CUDAIMGPROC +# include "opencv2/cudaimgproc.hpp" +#endif + +namespace cv +{ +namespace videostab +{ + +//! @addtogroup videostab_motion +//! @{ + +/** @brief Estimates best global motion between two 2D point clouds in the least-squares sense. + +@note Works in-place and changes input point arrays. + +@param points0 Source set of 2D points (32F). +@param points1 Destination set of 2D points (32F). +@param model Motion model (up to MM_AFFINE). +@param rmse Final root-mean-square error. +@return 3x3 2D transformation matrix (32F). + */ +CV_EXPORTS Mat estimateGlobalMotionLeastSquares( + InputOutputArray points0, InputOutputArray points1, int model = MM_AFFINE, + float *rmse = 0); + +/** @brief Estimates best global motion between two 2D point clouds robustly (using RANSAC method). + +@param points0 Source set of 2D points (32F). +@param points1 Destination set of 2D points (32F). +@param model Motion model. See cv::videostab::MotionModel. +@param params RANSAC method parameters. See videostab::RansacParams. +@param rmse Final root-mean-square error. +@param ninliers Final number of inliers. + */ +CV_EXPORTS Mat estimateGlobalMotionRansac( + InputArray points0, InputArray points1, int model = MM_AFFINE, + const RansacParams ¶ms = RansacParams::default2dMotion(MM_AFFINE), + float *rmse = 0, int *ninliers = 0); + +/** @brief Base class for all global motion estimation methods. + */ +class CV_EXPORTS MotionEstimatorBase +{ +public: + virtual ~MotionEstimatorBase() {} + + /** @brief Sets motion model. + + @param val Motion model. See cv::videostab::MotionModel. + */ + virtual void setMotionModel(MotionModel val) { motionModel_ = val; } + + /** + @return Motion model. See cv::videostab::MotionModel. + */ + virtual MotionModel motionModel() const { return motionModel_; } + + /** @brief Estimates global motion between two 2D point clouds. + + @param points0 Source set of 2D points (32F). + @param points1 Destination set of 2D points (32F). + @param ok Indicates whether motion was estimated successfully. + @return 3x3 2D transformation matrix (32F). + */ + virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0) = 0; + +protected: + MotionEstimatorBase(MotionModel model) { setMotionModel(model); } + +private: + MotionModel motionModel_; +}; + +/** @brief Describes a robust RANSAC-based global 2D motion estimation method which minimizes L2 error. + */ +class CV_EXPORTS MotionEstimatorRansacL2 : public MotionEstimatorBase +{ +public: + MotionEstimatorRansacL2(MotionModel model = MM_AFFINE); + + void setRansacParams(const RansacParams &val) { ransacParams_ = val; } + RansacParams ransacParams() const { return ransacParams_; } + + void setMinInlierRatio(float val) { minInlierRatio_ = val; } + float minInlierRatio() const { return minInlierRatio_; } + + virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0); + +private: + RansacParams ransacParams_; + float minInlierRatio_; +}; + +/** @brief Describes a global 2D motion estimation method which minimizes L1 error. + +@note To be able to use this method you must build OpenCV with CLP library support. : + */ +class CV_EXPORTS MotionEstimatorL1 : public MotionEstimatorBase +{ +public: + MotionEstimatorL1(MotionModel model = MM_AFFINE); + + virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0); + +private: + std::vector<double> obj_, collb_, colub_; + std::vector<double> elems_, rowlb_, rowub_; + std::vector<int> rows_, cols_; + + void set(int row, int col, double coef) + { + rows_.push_back(row); + cols_.push_back(col); + elems_.push_back(coef); + } +}; + +/** @brief Base class for global 2D motion estimation methods which take frames as input. + */ +class CV_EXPORTS ImageMotionEstimatorBase +{ +public: + virtual ~ImageMotionEstimatorBase() {} + + virtual void setMotionModel(MotionModel val) { motionModel_ = val; } + virtual MotionModel motionModel() const { return motionModel_; } + + virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0) = 0; + +protected: + ImageMotionEstimatorBase(MotionModel model) { setMotionModel(model); } + +private: + MotionModel motionModel_; +}; + +class CV_EXPORTS FromFileMotionReader : public ImageMotionEstimatorBase +{ +public: + FromFileMotionReader(const String &path); + + virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0); + +private: + std::ifstream file_; +}; + +class CV_EXPORTS ToFileMotionWriter : public ImageMotionEstimatorBase +{ +public: + ToFileMotionWriter(const String &path, Ptr<ImageMotionEstimatorBase> estimator); + + virtual void setMotionModel(MotionModel val) { motionEstimator_->setMotionModel(val); } + virtual MotionModel motionModel() const { return motionEstimator_->motionModel(); } + + virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0); + +private: + std::ofstream file_; + Ptr<ImageMotionEstimatorBase> motionEstimator_; +}; + +/** @brief Describes a global 2D motion estimation method which uses keypoints detection and optical flow for +matching. + */ +class CV_EXPORTS KeypointBasedMotionEstimator : public ImageMotionEstimatorBase +{ +public: + KeypointBasedMotionEstimator(Ptr<MotionEstimatorBase> estimator); + + virtual void setMotionModel(MotionModel val) { motionEstimator_->setMotionModel(val); } + virtual MotionModel motionModel() const { return motionEstimator_->motionModel(); } + + void setDetector(Ptr<FeatureDetector> val) { detector_ = val; } + Ptr<FeatureDetector> detector() const { return detector_; } + + void setOpticalFlowEstimator(Ptr<ISparseOptFlowEstimator> val) { optFlowEstimator_ = val; } + Ptr<ISparseOptFlowEstimator> opticalFlowEstimator() const { return optFlowEstimator_; } + + void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; } + Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; } + + virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0); + +private: + Ptr<MotionEstimatorBase> motionEstimator_; + Ptr<FeatureDetector> detector_; + Ptr<ISparseOptFlowEstimator> optFlowEstimator_; + Ptr<IOutlierRejector> outlierRejector_; + + std::vector<uchar> status_; + std::vector<KeyPoint> keypointsPrev_; + std::vector<Point2f> pointsPrev_, points_; + std::vector<Point2f> pointsPrevGood_, pointsGood_; +}; + +#if defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW) + +class CV_EXPORTS KeypointBasedMotionEstimatorGpu : public ImageMotionEstimatorBase +{ +public: + KeypointBasedMotionEstimatorGpu(Ptr<MotionEstimatorBase> estimator); + + virtual void setMotionModel(MotionModel val) { motionEstimator_->setMotionModel(val); } + virtual MotionModel motionModel() const { return motionEstimator_->motionModel(); } + + void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; } + Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; } + + virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0); + Mat estimate(const cuda::GpuMat &frame0, const cuda::GpuMat &frame1, bool *ok = 0); + +private: + Ptr<MotionEstimatorBase> motionEstimator_; + Ptr<cuda::CornersDetector> detector_; + SparsePyrLkOptFlowEstimatorGpu optFlowEstimator_; + Ptr<IOutlierRejector> outlierRejector_; + + cuda::GpuMat frame0_, grayFrame0_, frame1_; + cuda::GpuMat pointsPrev_, points_; + cuda::GpuMat status_; + + Mat hostPointsPrev_, hostPoints_; + std::vector<Point2f> hostPointsPrevTmp_, hostPointsTmp_; + std::vector<uchar> rejectionStatus_; +}; + +#endif // defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW) + +/** @brief Computes motion between two frames assuming that all the intermediate motions are known. + +@param from Source frame index. +@param to Destination frame index. +@param motions Pair-wise motions. motions[i] denotes motion from the frame i to the frame i+1 +@return Motion from the frame from to the frame to. + */ +CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions); + +//! @} + +} // namespace videostab +} // namespace cv + +#endif |