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/*M///////////////////////////////////////////////////////////////////////////////////////
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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// For Open Source Computer Vision Library
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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#include "precomp.hpp"
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#include "opencv2/videostab/wobble_suppression.hpp"
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#include "opencv2/videostab/ring_buffer.hpp"
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#include "opencv2/core/private.cuda.hpp"
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#ifdef HAVE_OPENCV_CUDAWARPING
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# include "opencv2/cudawarping.hpp"
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#if defined(HAVE_OPENCV_CUDAWARPING)
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#if !defined HAVE_CUDA || defined(CUDA_DISABLER)
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namespace cv { namespace cuda {
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static void calcWobbleSuppressionMaps(int, int, int, Size, const Mat&, const Mat&, GpuMat&, GpuMat&) { throw_no_cuda(); }
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namespace cv { namespace cuda { namespace device { namespace globmotion {
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void calcWobbleSuppressionMaps(
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int left, int idx, int right, int width, int height,
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const float *ml, const float *mr, PtrStepSzf mapx, PtrStepSzf mapy);
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namespace cv { namespace cuda {
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static void calcWobbleSuppressionMaps(
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int left, int idx, int right, Size size, const Mat &ml, const Mat &mr,
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GpuMat &mapx, GpuMat &mapy)
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CV_Assert(ml.size() == Size(3, 3) && ml.type() == CV_32F && ml.isContinuous());
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CV_Assert(mr.size() == Size(3, 3) && mr.type() == CV_32F && mr.isContinuous());
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mapx.create(size, CV_32F);
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mapy.create(size, CV_32F);
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cv::cuda::device::globmotion::calcWobbleSuppressionMaps(
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left, idx, right, size.width, size.height,
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ml.ptr<float>(), mr.ptr<float>(), mapx, mapy);
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WobbleSuppressorBase::WobbleSuppressorBase() : motions_(0), stabilizationMotions_(0)
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setMotionEstimator(makePtr<KeypointBasedMotionEstimator>(makePtr<MotionEstimatorRansacL2>(MM_HOMOGRAPHY)));
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void NullWobbleSuppressor::suppress(int /*idx*/, const Mat &frame, Mat &result)
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void MoreAccurateMotionWobbleSuppressor::suppress(int idx, const Mat &frame, Mat &result)
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CV_Assert(motions_ && stabilizationMotions_);
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if (idx % period_ == 0)
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int k1 = idx / period_ * period_;
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int k2 = std::min(k1 + period_, frameCount_ - 1);
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Mat S1 = (*stabilizationMotions_)[idx];
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Mat_<float> ML = S1 * getMotion(k1, idx, *motions2_) * getMotion(k1, idx, *motions_).inv() * S1.inv();
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Mat_<float> MR = S1 * getMotion(idx, k2, *motions2_).inv() * getMotion(idx, k2, *motions_) * S1.inv();
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mapx_.create(frame.size());
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mapy_.create(frame.size());
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float xl, yl, zl, wl;
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float xr, yr, zr, wr;
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for (int y = 0; y < frame.rows; ++y)
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for (int x = 0; x < frame.cols; ++x)
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xl = ML(0,0)*x + ML(0,1)*y + ML(0,2);
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yl = ML(1,0)*x + ML(1,1)*y + ML(1,2);
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zl = ML(2,0)*x + ML(2,1)*y + ML(2,2);
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wl = float(idx - k1);
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xr = MR(0,0)*x + MR(0,1)*y + MR(0,2);
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yr = MR(1,0)*x + MR(1,1)*y + MR(1,2);
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zr = MR(2,0)*x + MR(2,1)*y + MR(2,2);
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wr = float(k2 - idx);
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mapx_(y,x) = (wr * xl + wl * xr) / (wl + wr);
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mapy_(y,x) = (wr * yl + wl * yr) / (wl + wr);
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if (result.data == frame.data)
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result = Mat(frame.size(), frame.type());
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remap(frame, result, mapx_, mapy_, INTER_LINEAR, BORDER_REPLICATE);
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#if defined(HAVE_OPENCV_CUDAWARPING)
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void MoreAccurateMotionWobbleSuppressorGpu::suppress(int idx, const cuda::GpuMat &frame, cuda::GpuMat &result)
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CV_Assert(motions_ && stabilizationMotions_);
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if (idx % period_ == 0)
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int k1 = idx / period_ * period_;
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int k2 = std::min(k1 + period_, frameCount_ - 1);
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Mat S1 = (*stabilizationMotions_)[idx];
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Mat ML = S1 * getMotion(k1, idx, *motions2_) * getMotion(k1, idx, *motions_).inv() * S1.inv();
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Mat MR = S1 * getMotion(idx, k2, *motions2_).inv() * getMotion(idx, k2, *motions_) * S1.inv();
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cuda::calcWobbleSuppressionMaps(k1, idx, k2, frame.size(), ML, MR, mapx_, mapy_);
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if (result.data == frame.data)
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result = cuda::GpuMat(frame.size(), frame.type());
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cuda::remap(frame, result, mapx_, mapy_, INTER_LINEAR, BORDER_REPLICATE);
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void MoreAccurateMotionWobbleSuppressorGpu::suppress(int idx, const Mat &frame, Mat &result)
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frameDevice_.upload(frame);
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suppress(idx, frameDevice_, resultDevice_);
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resultDevice_.download(result);
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} // namespace videostab