gyroflow
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Video stabilization using gyroscope data
Video stabilization using gyroscope data
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About the project
Gyroflow is an application that can stabilize your video by using motion data from a gyroscope and optionally an accelerometer. Modern cameras record that data internally (GoPro, Sony, Insta360 etc), and this application stabilizes the captured footage precisely by using them. It can also use gyro data from an external source (eg. from Betaflight blackbox).
Features
- Real time preview, params adjustments and all calculations
- GPU processing and rendering
- Fully multi-threaded
- Rolling shutter correction
- Supports already stabilized GoPro videos (captured with Hypersmooth enabled) (Hero 8 and up)
- Supports and renders 10-bit videos (up to 16-bit 4:4:4:4 for regular codecs and 32-bit float for OpenEXR - works directly on YUV data to keep maximum quality)
- Customizable lens correction strength
- Render queue
- Keyframes
- Visual chart with gyro data (can display gyro, accel, magnetometer and quaternions)
- Visual display of smoothed quaternions
- Real time offset adjustments
- Two optical flow methods
- Two offsets calculation methods
- Modern responsive user interface with Dark and Light theme
- Adaptive zoom (dynamic cropping)
- Support for image sequences (PNG, OpenEXR, CinemaDNG)
- Based on telemetry-parser - supports all gyro sources out of the box
- Gyro low pass filter, arbitrary rotation (pitch, roll, yaw angles) and orientation
- Multiple gyro integration methods for orientation determination
- Multiple video orientation smoothing algorithms, including horizon levelling and per-axis smoothness adjustment.
- Cross-platform - currently works on Windows/Linux/Mac, with Android and iOS apps coming
- Multiple UI languages
- Supports variable and high frame rate videos, all calculations are done on timestamps
- H.264/AVC, H.265/HEVC, ProRes, DNxHD, PNG and OpenEXR outputs, with H.264 and H.265 fully GPU accelerated (ProRes also accelerated on Apple M1 Pro/Max/Ultra)
- Automatic lens calibration process
- Fully zero-copy GPU preview rendering (working but experimental)
- Core engine is a separate library without external dependencies (no Qt, no ffmpeg, no OpenCV), and can be used to create OpenFX and Adobe plugins (on the TODO list)
- Automatic updates of lens profile database
- Built-in lens profiles for GoPro HERO 6, 8, 9 and 10 in all shooting modes
Supported gyro sources
- [x] GoPro (HERO 5 and later)
- [x] Sony (a1, a7c, a7r IV, a7 IV, a7s III, a9 II, FX3, FX6, FX9, RX0 II, RX100 VII, ZV1, ZV-E10)
- [x] Insta360 (OneR, OneRS, SMO 4k, Go, GO2)
- [x] Betaflight blackbox (CSV and binary)
- [x] Runcam CSV (Runcam 5 Orange, iFlight GOCam GR, Runcam Thumb, Mobius Maxi 4K)
- [x] Hawkeye Firefly X Lite CSV
- [x] WitMotion (WT901SDCL binary and *.txt)
- [x] iOS apps:
Sensor Logger
,G-Field Recorder
,Gyro
- [x] Android apps:
Sensor Logger
,Sensor Record
- [x] Gyroflow .gcsv log
- [x] ArduPilot logs (*.bin, *.log)
- [x] Blackmagic RAW (*.braw)
- [x] RED RAW (*.r3d)
Info for cameras not on the list
- For cameras which do have built-in gyro, please contact us and we will implement support for that camera. Refer to the documentation for information about the gyro logging process.
- For cameras which don't have built-in gyro, please consider using Betaflight FC or check out our flowshutter project.
Installation
Windows
- Download
Gyroflow-windows64.zip
from the Releases page, extract the files somewhere and runGyroflow.exe
- If it shows an error about
VCRUNTIME140.dll
, install VC redist
MacOS
- Download
Gyroflow-mac-universal.dmg
from the Releases page, run the downloaded file, and drag & dropGyroflow
app to the Applications folder (or anywhere you want, like on Desktop) - You can also install using brew:
brew install gyroflow
. To upgrade Gyroflow, runbrew update
thenbrew upgrade gyroflow
Linux
- Download
Gyroflow-linux64.tar.gz
from the Releases page, extract the files somewhere and run./Gyroflow
in the terminal. - If that doesn't work, you can try the
Gyroflow-linux64.AppImage
, but the .tar.gz one is preferred. - Make sure you have latest graphics drivers installed
- Possibly needed packages:
sudo apt install libva2 libvdpau1 libasound2 libxkbcommon0 libpulse0libc++-dev vdpau-va-driver libvulkan1
- GPU specific packages:
- NVIDIA:
nvidia-opencl-icd nvidia-vdpau-driver nvidia-egl-icd nvidia-vulkan-icd libnvcuvid1 libnvidia-encode1
- Intel:
intel-media-va-driver i965-va-driver beignet-opencl-icd intel-opencl-icd
- AMD:
mesa-vdpau-drivers mesa-va-drivers mesa-opencl-icd libegl-mesa0 mesa-vulkan-drivers
- NVIDIA:
Nightly build
Latest development version is always available here: https://gyroflow.xyz/devbuild/.
Minimum system requirements:
- Windows 10 64-bit (1809 or later)
- If you have Windows "N" install, go to
Settings
->Apps
->Optional features
->Add a feature
-> enableMedia Feature Pack
- If you have Windows "N" install, go to
- macOS 10.14 or later (both Intel and Apple Silicon are supported natively)
- Linux:
-
.tar.gz
package (recommended): Debian 10+, Ubuntu 18.10+, CentOS 8.2+, openSUSE 15.3+. Other distros require glibc 2.28+ (ldd --version
to check) -
.AppImage
should work everywhere
-
- Android 6+
Help and support
For general support and discussion, you can find the developers and other users on the Gyroflow Discord server.
For companies or people wishing to get in touch with the team privately for collaborative purposes: [email protected].
Test data
You can download some clips with gyro data from here: https://drive.google.com/drive/folders/1sbZiLN5-sv_sGul1E_DUOluB5OMHfySh?usp=sharing
Roadmap
See the open issues for a list of proposed features and known issues. There's also a ton of TODO comments throughout the code.
Video editor plugins
Gyroflow OpenFX plugin is available here. OpenFX plugin was tested in DaVinci Resolve
Adobe After Effects plugin is planned, but not ready yet
Contributing
Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributors are greatly appreciated.
- If you have suggestions for adding or removing features, feel free to open an issue to discuss it.
- If you want to implement a feature, you can fork this project, implement your code and open a pull request.
Translations
Currently Gyroflow is available in:
- English (base language)
- Chinese Simplified (by DusKing1)
- Chinese Traditional (by DusKing1)
- Danish (by ElvinC)
- Finnish (by Jesse Julkunen)
- French (by KennyDorion)
- Galician (by Martín Costas)
- German (by Grommi and Nicecrash)
- Greek (by Stamatis Galiatsatos)
- Indonesian (by Aloysius Puspandono)
- Italian (by Rosario Casciello)
- Japanese (by 井上康)
- Norwegian (by MiniGod and alexagv)
- Polish (by AdrianEddy)
- Portuguese Brazilian (by KallelGaNewk)
- Portuguese (by Ricardo Pimentel)
- Russian (by Андрей Гурьянов, redstar01 and lukdut)
- Slovak (by Radovan Leitman and Eduard Petrovsky)
- Spanish (by Pelado-Mat)
- Turkish (by Metin Oktay Yılmaz)
- Ukrainian (by Artem Alexandrov)
Help us translate Gyroflow to your language! We use crowdin to manage translations and you can contribute there: https://crowdin.com/project/gyroflow
I want to contribute but I don't know Rust or QML
- The Rust book is a great way to get started with Rust: https://doc.rust-lang.org/book/
- Additional useful resources for Rust: https://quickref.me/rust and https://cheats.rs/
- For the UI stuff, there's a nice QML book by The Qt Company: https://www.qt.io/product/qt6/qml-book
Development
Used languages and technologies
Gyroflow is written in Rust, with UI written in QML. It uses Qt, ffmpeg, OpenCV and mdk-sdk external dependencies for the main program, but the core library is written in pure Rust without any external dependencies.
OpenCV usage is kept to a minimum, used only for lens calibration and optical flow (src/core/calibration/mod.rs
and src/core/synchronization/opencv.rs
). Core algorithms and undistortion don't use OpenCV.
GPU stuff supports DirectX, OpenGL, Metal and Vulkan thanks to Qt RHI and wgpu. For GPU processing we use OpenCL or wgpu, with highly parallelized CPU implementation as a fallback.
Code structure
- Entire GUI is in the
src/ui
directory -
src/controller.rs
is a bridge between UI and core, it takes all commands from QML and calls functions in core -
src/core
contains the whole gyroflow engine and doesn't depend on Qt or ffmpeg, and OpenCV is optional -
src/rendering
contains all FFmpeg related code for rendering final video and processing for synchronization -
src/core/gpu
contains GPU implementations of the undistortion -
src/qt_gpu
contains zero-copy GPU undistortion path, using Qt RHI and GLSL compute shader, but this method is experimental and buggy for now -
src/gyroflow.rs
is the main entry point -
mod.rs
orlib.rs
in each directory act as a main entry of the module (directory name is the module name andmod.rs
is kind of an entry point)
Dev environment
Visual Studio Code
with rust-analyzer
extension.
For working with QML I recommend to use Qt Creator and load all QML files there, as it has auto-complete and syntax highlighting.
The project also supports UI live reload, it's a super quick way of working with the UI. Just change live_reload = true
in gyroflow.rs
and it should work right away. Now every time you change any QML file, the app should reload it immediately.
Building on Windows
- Get latest stable Rust language from: https://rustup.rs/
- Please make sure to check the English language pack option when installing the C++ build tools from Visual Studio Installer
- Clone the repo:
git clone https://github.com/gyroflow/gyroflow.git
- Install dependencies to the
ext
directory:cd gyroflow/ext
-
Qt 6.3.1
or higher:pip3 install -U pip & pip3 install aqtinstall
thenaqt install-qt windows desktop 6.3.1 win64_msvc2019_64 -m qtshadertools
or use the official installer -
FFmpeg 5.1
: download ffmpeg 5.1 lite and unzip it toext/ffmpeg-5.1-windows-desktop-vs2022-gpl-lite
- vcpkg:
git clone --depth 1 https://github.com/Microsoft/vcpkg.git & .\vcpkg\bootstrap-vcpkg.bat -disableMetrics
- OpenCV:
.\vcpkg\vcpkg install "opencv[core]:x64-windows-release"
- OpenCL:
.\vcpkg\vcpkg install "opencl:x64-windows-release"
- LLVM: download and install LLVM
-
- Make sure you have
7z
in PATH. - Setup the environment in powershell (or set the same variables in cmd):
./__env.ps1
- I do this in VS Code built-in terminal- some machines might have issue that scripts are forbidden to run, try to
set-executionpolicy remotesigned
in powershell with admin
- some machines might have issue that scripts are forbidden to run, try to
- Compile and run:
cargo run --release
Building on MacOS
- Get latest stable Rust language from: https://rustup.rs/
- Install Xcode command line tools:
xcode-select --install
- Clone the repo:
git clone https://github.com/gyroflow/gyroflow.git
- Install dependencies:
cd gyroflow/ext && ./install-deps-mac.sh
- For building on Apple M1, change
ffmpeg-x64_64
->ffmpeg-arm64
andx64-osx-release
->arm64-osx
in__env-macos.sh
- Setup the environment in terminal:
source __env-macos.sh
or. ./__env-macos.sh
- I do this in VS Code built-in terminal - For some reason
DYLD_FALLBACK_LIBRARY_PATH
may be overwritten so export it again in terminal:export DYLD_FALLBACK_LIBRARY_PATH="$(xcode-select --print-path)/Toolchains/XcodeDefault.xctoolchain/usr/lib/"
(if you have build errors, try the other one from __env-macos.sh) - Compile and run:
cargo run --release
- If it fails to run, do:
./_deployment/deploy-macos.sh
once
Building on Linux
- Get latest stable Rust language from: https://rustup.rs/
- Clone the repo:
git clone https://github.com/gyroflow/gyroflow.git
- Install dependencies:
cd gyroflow/ext && ./install-deps-linux.sh
(Debian based apt) - Setup the environment in terminal:
./__env-linux.sh
- I do this in VS Code built-in terminal - Compile and run:
cargo run --release
Building for Android
- Android is not well supported yet, but the app can be built and somewhat works. So far only building on Windows was tested
- Install Qt for Android:
aqt install-qt windows android 6.3.1 android_arm64_v8a
andaqt install-qt windows desktop 6.3.1 win64_mingw
- Install
cargo-apk
:cargo install --git https://github.com/rust-windowing/android-ndk-rs.git cargo-apk
- Add a Rust target:
rustup target add aarch64-linux-android
- Update
Cargo.toml
to comment out[[[bin]]
section and uncomment[lib]
section - Patch
C:\Users\you\.cargo\registry\src\github.com-1ecc6299db9ec823\opencv-0.61.3\build.rs
: Changeif cfg!(target_env = "msvc")
toif std::env::var("CARGO_CFG_TARGET_ENV").unwrap() == "msvc"
- Update paths in
_deployment/build-android.ps1
- Run
.\_deployment\build-android.ps1
in Powershell
Profiling on Windows
- Install and run
Visual Studio Community Edition
- Compile and run GyroFlow with the
profile
profile:cargo run --profile profile
- In Visual Studio, go to
Debug -> Performance Profiler...
- Under
Target
, openChange Target
and selectRunning Process...
, select the runninggyroflow.exe
process
- Under
License
Distributed under the GPLv3 License. See LICENSE for more information.
Authors
- AdrianEddy - Author of the Rust implementation (code in this repository), author of the UI, GPU processing, rolling shutter correction and advanced rendering features
- Elvin Chen - Author of the first version in Python, laid the groundwork to make all this possible
Notable contributors
- Maik Menz - Contributed to all areas of Gyroflow with fixes and improvements
- Aphobius - Author of the velocity dampened smoothing algorithm
- Marc Roeschlin - Author of the adaptive zoom algorithm
- Ilya Epifanov - Author of the OpenFX plugin
- Vladimir Pinchuk - Author of robust gyro-to-video synchronization algorithm