global_motion.hpp 5.34 KB
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#ifndef __OPENCV_VIDEOSTAB_GLOBAL_MOTION_HPP__
#define __OPENCV_VIDEOSTAB_GLOBAL_MOTION_HPP__
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#include <vector>
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#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
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#include "opencv2/videostab/optical_flow.hpp"

namespace cv
{
namespace videostab
{

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enum MotionModel
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{
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    TRANSLATION = 0,
    TRANSLATION_AND_SCALE = 1,
    LINEAR_SIMILARITY = 2,
    AFFINE = 3
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};

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CV_EXPORTS Mat estimateGlobalMotionLeastSquares(
        const std::vector<Point2f> &points0, const std::vector<Point2f> &points1,
        int model = AFFINE, float *rmse = 0);
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struct CV_EXPORTS RansacParams
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{
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    int size; // subset size
    float thresh; // max error to classify as inlier
    float eps; // max outliers ratio
    float prob; // probability of success

    RansacParams(int _size, float _thresh, float _eps, float _prob)
        : size(_size), thresh(_thresh), eps(_eps), prob(_prob) {}

    static RansacParams translationMotionStd() { return RansacParams(2, 0.5f, 0.5f, 0.99f); }
    static RansacParams translationAndScale2dMotionStd() { return RansacParams(3, 0.5f, 0.5f, 0.99f); }
    static RansacParams linearSimilarityMotionStd() { return RansacParams(4, 0.5f, 0.5f, 0.99f); }
    static RansacParams affine2dMotionStd() { return RansacParams(6, 0.5f, 0.5f, 0.99f); }
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};

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CV_EXPORTS Mat estimateGlobalMotionRobust(
        const std::vector<Point2f> &points0, const std::vector<Point2f> &points1,
        int model = AFFINE, const RansacParams &params = RansacParams::affine2dMotionStd(),
        float *rmse = 0, int *ninliers = 0);
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class CV_EXPORTS IGlobalMotionEstimator
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{
public:
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    virtual ~IGlobalMotionEstimator() {}
    virtual Mat estimate(const Mat &frame0, const Mat &frame1) = 0;
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};

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class CV_EXPORTS PyrLkRobustMotionEstimator : public IGlobalMotionEstimator
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{
public:
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    PyrLkRobustMotionEstimator();
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    void setDetector(Ptr<FeatureDetector> val) { detector_ = val; }
    Ptr<FeatureDetector> detector() const { return detector_; }
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    void setOptFlowEstimator(Ptr<ISparseOptFlowEstimator> val) { optFlowEstimator_ = val; }
    Ptr<ISparseOptFlowEstimator> optFlowEstimator() const { return optFlowEstimator_; }
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    void setMotionModel(MotionModel val) { motionModel_ = val; }
    MotionModel motionModel() const { return motionModel_; }
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    void setRansacParams(const RansacParams &val) { ransacParams_ = val; }
    RansacParams ransacParams() const { return ransacParams_; }
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    void setMaxRmse(float val) { maxRmse_ = val; }
    float maxRmse() const { return maxRmse_; }
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    void setMinInlierRatio(float val) { minInlierRatio_ = val; }
    float minInlierRatio() const { return minInlierRatio_; }
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    virtual Mat estimate(const Mat &frame0, const Mat &frame1);
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private:
    Ptr<FeatureDetector> detector_;
    Ptr<ISparseOptFlowEstimator> optFlowEstimator_;
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    MotionModel motionModel_;
    RansacParams ransacParams_;
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    std::vector<uchar> status_;
    std::vector<KeyPoint> keypointsPrev_;
    std::vector<Point2f> pointsPrev_, points_;
    std::vector<Point2f> pointsPrevGood_, pointsGood_;
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    float maxRmse_;
    float minInlierRatio_;
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};

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CV_EXPORTS Mat getMotion(int from, int to, const Mat *motions, int size);
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CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions);

} // namespace videostab
} // namespace cv

#endif