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).

Trailer / results video

Features

• Real-time preview, parameter adjustments and all calculations
• GPU processing and rendering, all algorithms fully multi-threaded
• Rolling shutter correction
• Video editor plugins (Adobe Premiere/Ae, DaVinci Resolve, Final Cut Pro and more), allowing you to apply stabilization directly in a video editor without transcoding
• Supports full Sony metadata (recording params, automatic lens, support for IBIS, OIS, EIS - you can have IBIS enabled in camera and still apply Gyroflow on top)
• 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 - working directly on YUV data to maintain maximum quality)
• Customizable lens correction strength
• Render queue
• Keyframes
• Ability to create custom settings presets
• Visual chart with gyro data (displays gyro, accelerometer, magnetometer, and quaternions, including smoothed quaternions)
• Supports underwater footage (corrects underwater distortions)
• Modern responsive user interface with Dark and Light theme
• Adaptive zoom (dynamic cropping)
• Zoom limit
• Supports 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 - works on Windows/Linux/Mac/Android/iOS
• Multiple UI languages
• Supports variable and high frame rate videos - all calculations are done on timestamps
• H.264/AVC, H.265/HEVC, ProRes, DNxHD, CineForm, PNG and OpenEXR outputs, with H.264 and H.265 fully GPU accelerated (ProRes also accelerated on Apple Silicon)
• Easy lens calibration process
• Fully zero-copy GPU preview rendering
• 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 official lens profiles for GoPro HERO 6-13; Sony; DJI; Insta360 action cameras; RunCam: Thumb series, 5 Orange
• Easy management of the video editor plugins from within the app
• Ability to add an additional 3D rotation (useful for framing vertical videos)

Supported gyro sources

• [x] GoPro (HERO 5 and later)
• [x] Sony (a1, a7c, a7r V, a7 IV, a7s III, a9 II, a9 III, FX3, FX6, FX9, RX0 II, RX100 VII, ZV1, ZV-E10, ZV-E10 II, ZV-E1, a6700)
• [x] Insta360 (OneR, OneRS, SMO 4k, Go, GO2, GO3, GO3S, GOUltra, Caddx Peanut, Ace, Ace Pro)
• [x] DJI (Avata, Avata 2, O3/O4 Air Unit, Action 2/4/5/6/Nano, Neo, Neo2)
• [x] XTRA (Edge, Edge Pro)
• [x] Blackmagic RAW (*.braw)
• [x] RED RAW (V-Raptor, KOMODO) (*.r3d)
• [x] Canon (C50, C80, C400, R6 Mk3, R5 Mk2) (*.mp4, *.mov, *.mxf)
• [x] Freefly (Ember)
• [x] Betaflight blackbox (*.bfl, *.bbl, *.csv)
• [x] ArduPilot logs (*.bin, *.log)
• [x] Gyroflow .gcsv log
• [x] iOS apps: Sensor Logger, G-Field Recorder, Gyro
• [x] Android apps: Sensor Logger, Sensor Record, OpenCamera Sensors, MotionCam Pro
• [x] Runcam CSV (Runcam 5 Orange, iFlight GOCam GR, Runcam Thumb, Mobius Maxi 4K)
• [x] Hawkeye Firefly X Lite CSV
• [x] XTU (S2Pro, S3Pro)
• [x] WitMotion (WT901SDCL binary and *.txt)
• [x] Vuze (VuzeXR)
• [x] KanDao (Obisidian Pro, Qoocam EGO)
• [x] CAMM format

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, you can use any other device which records gyro data. It may be a phone, an action camera, or an external device like a Betaflight FC, flowshutter, esp-gyrologger (eg. on an AtomS3). You just have to mount it on your main camera.

Installation

Windows - Microsoft Store or:

• Download Gyroflow-windows64.zip from the Releases page, extract the files somewhere and run Gyroflow.exe
• If it shows an error about VCRUNTIME140.dll or 0xc0000142, install VC redist

MacOS - App Store or:

• Download Gyroflow-mac-universal.dmg from the Releases page, run the downloaded file, and drag & drop Gyroflow app to the Applications folder (or anywhere you want, like on Desktop)
• You can also install using brew: brew install gyroflow. To upgrade Gyroflow, run brew update then brew 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 libpulse0 libc++-dev libvulkan1
• GPU specific packages:
  • NVIDIA: nvidia-opencl-icd nvidia-vaapi-driver 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

Android

• Google Play

iOS

• App Store

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 -> enable Media Feature Pack
• macOS 10.15 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+
• iOS 14+

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: devteam@gyroflow.xyz.

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 Premiere and After Effects plugin is available here

Final Cut Pro plugin is available as Gyroflow Toolbox.

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)
• Czech (by Jakub Ešpandr, VitroidFPV, davidazarian, Michael Kmoch)
• 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)
• Korean (by EP45)
• 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

1. Entire GUI is in the src/ui directory
2. src/controller.rs is a bridge between UI and core, it takes all commands from QML and calls functions in core
3. src/core contains the whole gyroflow engine and doesn't depend on Qt or ffmpeg. OpenCV is optional
4. src/rendering contains all FFmpeg related code for rendering final video and processing for synchronization
5. src/core/gpu contains GPU implementations of the undistortion
6. src/qt_gpu contains zero-copy GPU undistortion path, using Qt RHI and GLSL compute shader
7. src/gyroflow.rs is the main entry point
8. mod.rs or lib.rs in each directory act as a main entry of the module (directory name is the module name and mod.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

0. Prerequisites: git, 7z and working powershell. If you never ran powershell scripts before, run set-executionpolicy remotesigned in powershell as admin
1. 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
2. Install Just by running cargo install --force just
3. Clone the repo: git clone https://github.com/gyroflow/gyroflow.git
4. Enter the project directory and:
   • Install dependencies: just install-deps
   • Compile and run: just run

Building on MacOS

0. Prerequisites: git, brew
1. Get latest stable Rust language from: https://rustup.rs/
2. Install Just by running cargo install --force just
3. Clone the repo: git clone https://github.com/gyroflow/gyroflow.git
4. Enter the project directory and:
   • Install dependencies: just install-deps
   • Compile and run: just run
   • The first time you run it won't work, run just deploy once and then just run will work

Building on Linux

0. Prerequisites: git, 7z, python, apt package manager (or adjust commands inside scripts if on different distro)
1. Get latest stable Rust language from: https://rustup.rs/
2. Install Just by running cargo install --force just
3. Clone the repo: git clone https://github.com/gyroflow/gyroflow.git
4. Enter the project directory and:
   • Install dependencies: just install-deps
   • Compile and run: just run

Building for Android

0. Prerequisites: git, 7z, working powershell, Android SDK and NDK. Android is not well supported yet, but the app can be built and somewhat works. Building is supported only on Windows
1. Get latest stable Rust language from: https://rustup.rs/
2. Install Just by running cargo install --force just
3. Clone the repo: git clone https://github.com/gyroflow/gyroflow.git
4. Install Android SDK and NDK r23c and update paths in _scripts/android.just
5. Enter the project directory and:
   • Install dependencies: just android install-deps
   • Compile the apk and install on device: just android deploy

Building for iOS

0. Prerequisites: git, brew
1. Get latest stable Rust language from: https://rustup.rs/
2. Install Just by running cargo install --force just
3. Clone the repo: git clone https://github.com/gyroflow/gyroflow.git
4. Enter the project directory and:
   • Install dependencies: just ios install-deps
   • Update Team ID, signing keys and provisioning profiles in _scripts/ios.just
   • Compile and run on device: just ios run

Profiling on Windows

1. Install and run Visual Studio Community Edition
2. Compile and run Gyroflow with the profile profile: just profile
3. In Visual Studio, go to Debug -> Performance Profiler...
   • Under Target, open Change Target and select Running Process..., select the running gyroflow.exe process

Profiling QML

1. Uncomment config.define("QT_QML_DEBUG", None); in build.rs
2. Comment cli::run() in gyroflow.rs
3. Run in debug mode with QML debugger args: cargo run -- "-qmljsdebugger=port:1234,block,services:CanvasFrameRate,EngineControl,DebugMessages"
4. In Qt Creator go to Analyze -> QML Profiler (Attach to Waiting Application) and enter port 1234

License

Distributed under the GPLv3 License with App Store Exception. See LICENSE for more information.

As additional permission under section 7, you are allowed to distribute gyroflow_core through an app store, even if that store has restrictive terms and conditions that are incompatible with the GPL, provided that the source is also available under the GPL with or without this permission through a channel without those restrictive terms and conditions.

Authors

• AdrianEddy - Author of the Rust implementation (code in this repository), author of the UI, GPU processing, rolling shutter correction, advanced rendering features and the Adobe plugin
• 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 and Sony lens/IBIS data
• Chris Hocking - Author of the Gyroflow Toolbox Final Cut Pro Plugin

Acknowledgements

• Gyroflow Python version (legacy code)
• telemetry-parser