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

Screenshot

Features

Real time preview, params adjustments and all calculations
GPU processing and rendering, all algorithms 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
Ability to create custom settings presets
OpenFX plugin (eg. for DaVinci Resolve), which allows you to apply stabilization in video editor without any transcoding
Gyroflow Toolbox - A Final Cut Pro effect which allows you to import a Gyroflow Project without transcoding
Visual chart with gyro data (can display gyro, accel, magnetometer and quaternions)
Visual display of smoothed quaternions
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 official lens profiles for GoPro: HERO 6, 7, 8, 9, 10, 11; RunCam: Thumb, ThumbPro, 5 Orange; Insta360: GO 2 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, Caddx Peanut)
[x] DJI (Avata, O3 Air Unit, Action 2)
[x] Blackmagic RAW (*.braw)
[x] RED RAW (V-Raptor, KOMODO) (*.r3d)
[x] Betaflight blackbox (*.bfl, *.bbl, *.csv)
[x] ArduPilot logs (*.bin, *.log)
[x] Gyroflow .gcsv log
[x] iOS apps: Sensor Logger, G-Field Recorder, Gyro, GyroCam
[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)
[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, 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 run Gyroflow.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 & 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

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 10.14 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

Gyroflow Toolbox allows you to import Gyroflow Projects into a Final Cut Pro effect.

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)
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

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
src/gyroflow.rs is the main entry point
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

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

Building on MacOS

Prerequisites: git, brew
Get latest stable Rust language from: https://rustup.rs/
Install Just by running cargo install --force just
Clone the repo: git clone https://github.com/gyroflow/gyroflow.git
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

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

Building for Android

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
Get latest stable Rust language from: https://rustup.rs/
Install Just by running cargo install --force just
Clone the repo: git clone https://github.com/gyroflow/gyroflow.git
Install Android SDK and NDK r23c and update paths in _scripts/android.just
Enter the project directory and:
- Install dependencies: just android install-deps
- Compile the apk and install on device: just android deploy

Building for iOS

Prerequisites: git, brew
Get latest stable Rust language from: https://rustup.rs/
Install Just by running cargo install --force just
Clone the repo: git clone https://github.com/gyroflow/gyroflow.git
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

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, open Change Target and select Running Process..., select the running gyroflow.exe process

Profiling QML

Uncomment config.define("QT_QML_DEBUG", None); in build.rs
Comment cli::run() in gyroflow.rs
Run in debug mode with QML debugger args: cargo run -- "-qmljsdebugger=port:1234,block,services:CanvasFrameRate,EngineControl,DebugMessages"
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 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
Chris Hocking - Author of the BRAW Toolbox Final Cut Pro Plugin

Gyroflow