Стабилизация видео

Я изучаю область стабилизации видео. Я реализую приложение, используя OpenCV.

Мой прогресс, такой как:

Извлечение точек серфинга

согласование

estimateRigidTransform

warpAffine

Но результат видео не будет стабильным. Может кто-нибудь помочь мне решить эту проблему или предоставить мне ссылку на исходный код для улучшения?

Образец видео: Видео бегемота

Вот мой код [РЕДАКТИРОВАТЬ]

#include "stdafx.h"#include "opencv2/highgui/highgui.hpp"#include "opencv2/imgproc/imgproc.hpp"#include <iostream>
#include <stdio.h>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/opencv.hpp>

const double smooth_level = 0.7;
using namespace cv;
using namespace std;
struct TransformParam
{
TransformParam() {}
TransformParam(double _dx, double _dy, double _da) {
dx = _dx;
dy = _dy;
da = _da;
}
double dx; // translation x
double dy; // translation y
double da; // angle
};
int main( int argc, char** argv )
{
VideoCapture cap ("test12.avi");
Mat cur, cur_grey;
Mat prev, prev_grey;cap >> prev;
cvtColor(prev, prev_grey, COLOR_BGR2GRAY);

// Step 1 - Get previous to current frame transformation (dx, dy, da) for all frames
vector <TransformParam> prev_to_cur_transform; // previous to current

int k=1;
int max_frames =  cap.get(CV_CAP_PROP_FRAME_COUNT);
VideoWriter writeVideo ("stable.avi",0,30,cvSize(prev.cols,prev.rows),true);
Mat last_T;
double avg_dx = 0, avg_dy = 0, avg_da = 0;
Mat smooth_T(2,3,CV_64F);
while(true) {
cap >> cur;

if(cur.data == NULL) {
break;
}

cvtColor(cur, cur_grey, COLOR_BGR2GRAY);

// vector from prev to cur
vector <Point2f> prev_corner, cur_corner;
vector <Point2f> prev_corner2, cur_corner2;
vector <uchar> status;
vector <float> err;

goodFeaturesToTrack(prev_grey, prev_corner, 200, 0.01, 30);
calcOpticalFlowPyrLK(prev_grey, cur_grey, prev_corner, cur_corner, status, err);

// weed out bad matches
for(size_t i=0; i < status.size(); i++) {
if(status[i]) {
prev_corner2.push_back(prev_corner[i]);
cur_corner2.push_back(cur_corner[i]);
}
}

// translation + rotation only
Mat T = estimateRigidTransform(prev_corner2, cur_corner2, false);

// in rare cases no transform is found. We'll just use the last known good transform.
if(T.data == NULL) {
last_T.copyTo(T);
}

T.copyTo(last_T);

// decompose T
double dx = T.at<double>(0,2);
double dy = T.at<double>(1,2);
double da = atan2(T.at<double>(1,0), T.at<double>(0,0));
prev_to_cur_transform.push_back(TransformParam(dx, dy, da));

avg_dx = (avg_dx * smooth_level) + (dx * (1- smooth_level));
avg_dy = (avg_dy * smooth_level) + (dy * (1- smooth_level));
avg_da = (avg_da * smooth_level) + (da * (1- smooth_level));

smooth_T.at<double>(0,0) = cos(avg_da);
smooth_T.at<double>(0,1) = -sin(avg_da);
smooth_T.at<double>(1,0) = sin(avg_da);
smooth_T.at<double>(1,1) = cos(avg_da);

smooth_T.at<double>(0,2) = avg_dx;
smooth_T.at<double>(1,2) = avg_dy;

Mat stable;
warpAffine(prev,stable,smooth_T,prev.size());

Mat canvas = Mat::zeros(cur.rows, cur.cols*2+10, cur.type());
prev.copyTo(canvas(Range::all(), Range(0, prev.cols)));
stable.copyTo(canvas(Range::all(), Range(prev.cols+10, prev.cols*2+10)));

imshow("before and after", canvas);
waitKey(20);
writeVideo.write(stable);
cur.copyTo(prev);
cur_grey.copyTo(prev_grey);
k++;
}
}