This repo is to implementation video stabilization by gyroscope, which is based on paper A Non-Linear Filter for Gyroscope-Based Video Stabilization

You can refer the algo memo: https://github.com/lesialin/video_stab/blob/main/doc/algo_memo/Non_Linear_Filter_of_vid_stab/Non-Linear%20Filter%20for%20Video%20Stabilization.md

The simulation of vid_stab flow is as below,

The configuration in config/ folder, include:

debug_config.json

• test_mode: in test_mode you can test log in test_frame_no
• start_frame_no: run the video start from start_frame_no
• preserve_margin: crop the outer margin or not
• log_image: log result comparison frame

{
 "eis_pass1": true,
 "eis_pass2":false,
 "rs_correct_off": false,
 "test_mode":false,
 "test_frame_no": 100,
 "start_frame_no":0,
 "preserve_margin":false,
 "log_image":true 
 
 }

eis_config.json

• crop_ratio: crop ratio, ex 0.1 means crop 10% height/width each side
• alpha: low-pass filter coefficient, if use constant filter
• alpha_min: the minimum low-pass filter coefficient, if use non-linear filter
• alpha_max: the maximum low-pass filter coefficient, if use non-linear filter
• beta: the low-pass filter response coefficient
• gamma: the low-pass filter coefficient for the lookahead frame motion
• inner_padding_ratio: the inner padding ratio of crop region
• lookhead_no: the lookahead frame number
• knee_point: knee point number for image warp
• use_nonlinear_filter:use non-linear filter or not

{
 "crop_ratio": 0.1,
 "alpha": 0.9,
 "alpha_min": 0.75,
 "alpha_max": 0.95,
 "beta": 1.0,
 "gamma": 0.9,
 "damping": 0.95,
 "inner_padding_ratio": 0.0,
 "lookahead_no": 10,
 "knee_point": 39,
 "use_nonlinear_filter": true
 }

gyro_sensor_config.json

{
 "gyro_bias": [
 2.68081035e-04,
 -5.34824714e-04,
 -9.35238864e-05
 ],
 "sample_rate": 460
}

coord_trans_matrix.json

{
 "coordinate_trans_matrix":[
 [1,0,0],
 [0,1,0],
 [0,0,1]
 ]
}

video_config.json

{
 "preview_height": 720,
 "preview_width": 1280
}

cmos_sensor_config.json

• blanking: the blanking number of the cmos frame

{
 "blanking": 68,
 "cmos_frame_height": 3000,
 "cmos_frame_width": 4000,
 "effective_height": 2256,
 "effective_width": 4000,
 "focal_in_mm": 4.74,
 "sensor_width_in_mm": 6.4
}

siggen_config.json

• gyro_log_idx: the order in gyro log
• gyro_time_scale_exp: the timestamp scale in exp
• cmos_time_scale_exp: the timestamp scale in exp

{
 "gyro_log_idx": [0,1,2,3],
 "gyro_time_scale_exp": 7,
 "cmos_time_scale_exp": 7
 
}