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_GLOBAL_MOTION_HPP__ 44#define __OPENCV_VIDEOSTAB_GLOBAL_MOTION_HPP__ 45 46#include <vector> 47#include <fstream> 48#include "opencv2/core.hpp" 49#include "opencv2/features2d.hpp" 50#include "opencv2/opencv_modules.hpp" 51#include "opencv2/videostab/optical_flow.hpp" 52#include "opencv2/videostab/motion_core.hpp" 53#include "opencv2/videostab/outlier_rejection.hpp" 54 55#ifdef HAVE_OPENCV_CUDAIMGPROC 56# include "opencv2/cudaimgproc.hpp" 57#endif 58 59namespace cv 60{ 61namespace videostab 62{ 63 64//! @addtogroup videostab_motion 65//! @{ 66 67/** @brief Estimates best global motion between two 2D point clouds in the least-squares sense. 68 69@note Works in-place and changes input point arrays. 70 71@param points0 Source set of 2D points (32F). 72@param points1 Destination set of 2D points (32F). 73@param model Motion model (up to MM_AFFINE). 74@param rmse Final root-mean-square error. 75@return 3x3 2D transformation matrix (32F). 76 */ 77CV_EXPORTS Mat estimateGlobalMotionLeastSquares( 78 InputOutputArray points0, InputOutputArray points1, int model = MM_AFFINE, 79 float *rmse = 0); 80 81/** @brief Estimates best global motion between two 2D point clouds robustly (using RANSAC method). 82 83@param points0 Source set of 2D points (32F). 84@param points1 Destination set of 2D points (32F). 85@param model Motion model. See cv::videostab::MotionModel. 86@param params RANSAC method parameters. See videostab::RansacParams. 87@param rmse Final root-mean-square error. 88@param ninliers Final number of inliers. 89 */ 90CV_EXPORTS Mat estimateGlobalMotionRansac( 91 InputArray points0, InputArray points1, int model = MM_AFFINE, 92 const RansacParams ¶ms = RansacParams::default2dMotion(MM_AFFINE), 93 float *rmse = 0, int *ninliers = 0); 94 95/** @brief Base class for all global motion estimation methods. 96 */ 97class CV_EXPORTS MotionEstimatorBase 98{ 99public: 100 virtual ~MotionEstimatorBase() {} 101 102 /** @brief Sets motion model. 103 104 @param val Motion model. See cv::videostab::MotionModel. 105 */ 106 virtual void setMotionModel(MotionModel val) { motionModel_ = val; } 107 108 /** 109 @return Motion model. See cv::videostab::MotionModel. 110 */ 111 virtual MotionModel motionModel() const { return motionModel_; } 112 113 /** @brief Estimates global motion between two 2D point clouds. 114 115 @param points0 Source set of 2D points (32F). 116 @param points1 Destination set of 2D points (32F). 117 @param ok Indicates whether motion was estimated successfully. 118 @return 3x3 2D transformation matrix (32F). 119 */ 120 virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0) = 0; 121 122protected: 123 MotionEstimatorBase(MotionModel model) { setMotionModel(model); } 124 125private: 126 MotionModel motionModel_; 127}; 128 129/** @brief Describes a robust RANSAC-based global 2D motion estimation method which minimizes L2 error. 130 */ 131class CV_EXPORTS MotionEstimatorRansacL2 : public MotionEstimatorBase 132{ 133public: 134 MotionEstimatorRansacL2(MotionModel model = MM_AFFINE); 135 136 void setRansacParams(const RansacParams &val) { ransacParams_ = val; } 137 RansacParams ransacParams() const { return ransacParams_; } 138 139 void setMinInlierRatio(float val) { minInlierRatio_ = val; } 140 float minInlierRatio() const { return minInlierRatio_; } 141 142 virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0); 143 144private: 145 RansacParams ransacParams_; 146 float minInlierRatio_; 147}; 148 149/** @brief Describes a global 2D motion estimation method which minimizes L1 error. 150 151@note To be able to use this method you must build OpenCV with CLP library support. : 152 */ 153class CV_EXPORTS MotionEstimatorL1 : public MotionEstimatorBase 154{ 155public: 156 MotionEstimatorL1(MotionModel model = MM_AFFINE); 157 158 virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0); 159 160private: 161 std::vector<double> obj_, collb_, colub_; 162 std::vector<double> elems_, rowlb_, rowub_; 163 std::vector<int> rows_, cols_; 164 165 void set(int row, int col, double coef) 166 { 167 rows_.push_back(row); 168 cols_.push_back(col); 169 elems_.push_back(coef); 170 } 171}; 172 173/** @brief Base class for global 2D motion estimation methods which take frames as input. 174 */ 175class CV_EXPORTS ImageMotionEstimatorBase 176{ 177public: 178 virtual ~ImageMotionEstimatorBase() {} 179 180 virtual void setMotionModel(MotionModel val) { motionModel_ = val; } 181 virtual MotionModel motionModel() const { return motionModel_; } 182 183 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0) = 0; 184 185protected: 186 ImageMotionEstimatorBase(MotionModel model) { setMotionModel(model); } 187 188private: 189 MotionModel motionModel_; 190}; 191 192class CV_EXPORTS FromFileMotionReader : public ImageMotionEstimatorBase 193{ 194public: 195 FromFileMotionReader(const String &path); 196 197 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0); 198 199private: 200 std::ifstream file_; 201}; 202 203class CV_EXPORTS ToFileMotionWriter : public ImageMotionEstimatorBase 204{ 205public: 206 ToFileMotionWriter(const String &path, Ptr<ImageMotionEstimatorBase> estimator); 207 208 virtual void setMotionModel(MotionModel val) { motionEstimator_->setMotionModel(val); } 209 virtual MotionModel motionModel() const { return motionEstimator_->motionModel(); } 210 211 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0); 212 213private: 214 std::ofstream file_; 215 Ptr<ImageMotionEstimatorBase> motionEstimator_; 216}; 217 218/** @brief Describes a global 2D motion estimation method which uses keypoints detection and optical flow for 219matching. 220 */ 221class CV_EXPORTS KeypointBasedMotionEstimator : public ImageMotionEstimatorBase 222{ 223public: 224 KeypointBasedMotionEstimator(Ptr<MotionEstimatorBase> estimator); 225 226 virtual void setMotionModel(MotionModel val) { motionEstimator_->setMotionModel(val); } 227 virtual MotionModel motionModel() const { return motionEstimator_->motionModel(); } 228 229 void setDetector(Ptr<FeatureDetector> val) { detector_ = val; } 230 Ptr<FeatureDetector> detector() const { return detector_; } 231 232 void setOpticalFlowEstimator(Ptr<ISparseOptFlowEstimator> val) { optFlowEstimator_ = val; } 233 Ptr<ISparseOptFlowEstimator> opticalFlowEstimator() const { return optFlowEstimator_; } 234 235 void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; } 236 Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; } 237 238 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0); 239 240private: 241 Ptr<MotionEstimatorBase> motionEstimator_; 242 Ptr<FeatureDetector> detector_; 243 Ptr<ISparseOptFlowEstimator> optFlowEstimator_; 244 Ptr<IOutlierRejector> outlierRejector_; 245 246 std::vector<uchar> status_; 247 std::vector<KeyPoint> keypointsPrev_; 248 std::vector<Point2f> pointsPrev_, points_; 249 std::vector<Point2f> pointsPrevGood_, pointsGood_; 250}; 251 252#if defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW) 253 254class CV_EXPORTS KeypointBasedMotionEstimatorGpu : public ImageMotionEstimatorBase 255{ 256public: 257 KeypointBasedMotionEstimatorGpu(Ptr<MotionEstimatorBase> estimator); 258 259 virtual void setMotionModel(MotionModel val) { motionEstimator_->setMotionModel(val); } 260 virtual MotionModel motionModel() const { return motionEstimator_->motionModel(); } 261 262 void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; } 263 Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; } 264 265 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0); 266 Mat estimate(const cuda::GpuMat &frame0, const cuda::GpuMat &frame1, bool *ok = 0); 267 268private: 269 Ptr<MotionEstimatorBase> motionEstimator_; 270 Ptr<cuda::CornersDetector> detector_; 271 SparsePyrLkOptFlowEstimatorGpu optFlowEstimator_; 272 Ptr<IOutlierRejector> outlierRejector_; 273 274 cuda::GpuMat frame0_, grayFrame0_, frame1_; 275 cuda::GpuMat pointsPrev_, points_; 276 cuda::GpuMat status_; 277 278 Mat hostPointsPrev_, hostPoints_; 279 std::vector<Point2f> hostPointsPrevTmp_, hostPointsTmp_; 280 std::vector<uchar> rejectionStatus_; 281}; 282 283#endif // defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW) 284 285/** @brief Computes motion between two frames assuming that all the intermediate motions are known. 286 287@param from Source frame index. 288@param to Destination frame index. 289@param motions Pair-wise motions. motions[i] denotes motion from the frame i to the frame i+1 290@return Motion from the frame from to the frame to. 291 */ 292CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions); 293 294//! @} 295 296} // namespace videostab 297} // namespace cv 298 299#endif 300