README.md
VirtualGimbal

The VirtualGimbal is an electronic stabilize device for videos that were taken by a hand-held camera such as a DSLR. For more information, see [PetaPixel] ( <![CDATA[]]>https://petapixel.com/2016/08/11/sd-card-built-gyro-sensor-stabilize-shots/<![CDATA[]]> "PetaPixel").  The VirtualGimbal consists of an SD card and post-processing software. This repository releases the post-processing software, a SD card circuit and a SD card firmware.

Demo

<![CDATA[]]>https://youtu.be/NwUnrnFLjD4<![CDATA[]]>

Features

1.Post-processing video stabilization software on PC.
2.4K video available.
3.Stabilization completely based on captured angular velocity data.

Requirement

Ubuntu 18.04 or later
FFMPEG, OpenCV3, Eigen, boost and some python libraries.

Usage

See post_processing_software/README.md
Download <![CDATA[]]>Example Video<![CDATA[]]>, put in ~/vgdataset. Download <![CDATA[]]>Angular Velocity data<![CDATA[]]> and put it in virtualGimbal/post_processing_software/build/records. A camera calibration file also required to run a demo below so download <![CDATA[]]>Calibration file<![CDATA[]]> then put it in virtualGimbal/post_processing_software/build/camera_descriptions

Demo:

./pixelwisestabilizer -i ~/vgdataset/C0003.MP4 -c ILCE-6500 -l SEL1670Z -j records/2019-04-0307.27.36.json -z 1.3 -o



Here, i option is an input video file. c is a camera name that is calibrated using a calibrator. l is a lens name. j is a json file that include an angular velocity record of a gyro sensor. z is a zooming ratio. Recommended zooming ratio is 1.3 . o option outputs stabilized video.
Additional option n is available to disable preview window. This option speed ups the processing.

Camera calibration is required before you stabilize your own video. See a <![CDATA[]]>detail information<![CDATA[]]> to do it.

Install dependencies

Install system dependencies:

sudo apt-get install cmake make git



Install Git:

sudo apt install git-all


Install Python Dev:

sudo apt-get install python3-dev python3-pip python3-tk python3-lxml python3-six


Install Numpy & Scipy:

sudo apt-get install python3-numpy python3-scipy


Install Matplot Library:

sudo apt-get install python3-matplotlib


Install OpenCL: See <![CDATA[]]>detail information<![CDATA[]]>

sudo apt install ocl-icd-libopencl1 opencl-headers clinfo ocl-icd-opencl-dev  


OPTION: Install intel conpute-runtime with a command below if you use intel HD graphics.

If you use NVIDIA gpu, it is not required. On the other hand, CUDA is required.

sudo apt-get install intel-opencl-icd


Install ffmpeg:

sudo apt install yasm pkg-config

cd

git clone  git://source.ffmpeg.org/ffmpeg.git

cd ffmpeg
git checkout -b tag refs/tags/n4.4
./configure --enable-gpl --enable-x86asm --enable-opencl --enable-ffmpeg --enable-pic --enable-shared --disable-static --enable-swscale
make all -j4

sudo make install

sudo ldconfig



Install OpenCV

cd

sudo apt-get install build-essential module-assistant libgtk-3-dev

sudo m-a prepare

git clone https://github.com/opencv/opencv.git
cd opencv
git checkout refs/tags/4.5.3
cd opencv/  


mkdir build

cd build

cmake .. -DWITHTBB=ON -DWITHOPENGL=ON -DWITHVTK=ON -DWITHGTK=ON  -DWITHFFMPEG=ON -DCMAKEBUILD_TYPE=Release

make -j4

sudo make install  

sudo sh -c "echo /usr/local/lib >> /etc/ld.so.conf.d/opencv.conf"

sudo sh -c "echo PKGCONFIGPATH=\\$PKGCONFIGPATH:/usr/local/lib/pkgconfig >> /etc/bash.bashrc"

sudo sh -c "echo export PKGCONFIGPATH >> /etc/bash.bashrc"



Install Eigen

sudo apt install libeigen3-dev



Build

cd
git clone https://github.com/yossato/virtualGimbal.git

cd virtualGimbal

mkdir build

cd build

cmake ../postprocessingsoftware/ -DCMAKEBUILDTYPE=Release

make -j4



To start up faster

I added a program angular_velocity_estimator that generates a JSON file. The file will be saved in same directory of video file after execution.
If the file exists, the pixelwise_stabilizer starts up faster.
To run the program, execute a command like below.

./angularvelocityestimator ~/vgdataset/C0003.MP4



This command generates C0003.json .

The file contains estimated angular velocity from the video that is used for synchronizing between video and angular velocity measured by the gyro sensor.

Contribution

Todo


Speeding up
Brushing up deblur quality


Author

Yoshiaki Sato