Examples with ConfigGeneralDetector boofcv.abst.feature.detect.interest.ConfigGeneralDetector used on opensource projects

Example 6 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector in project BoofCV by lessthanoptimal.

the class ExampleVideoStabilization method main.

public static void main(String[] args) {
    // Configure the feature detector
    ConfigGeneralDetector confDetector = new ConfigGeneralDetector();
    confDetector.threshold = 10;
    confDetector.maxFeatures = 300;
    confDetector.radius = 2;
    // Use a KLT tracker
    PointTracker<GrayF32> tracker = FactoryPointTracker.klt(new int[] { 1, 2, 4, 8 }, confDetector, 3, GrayF32.class, GrayF32.class);
    // This estimates the 2D image motion
    // An Affine2D_F64 model also works quite well.
    ImageMotion2D<GrayF32, Homography2D_F64> motion2D = FactoryMotion2D.createMotion2D(200, 3, 2, 30, 0.6, 0.5, false, tracker, new Homography2D_F64());
    // wrap it so it output color images while estimating motion from gray
    ImageMotion2D<Planar<GrayF32>, Homography2D_F64> motion2DColor = new PlToGrayMotion2D<>(motion2D, GrayF32.class);
    // This fuses the images together
    StitchingFromMotion2D<Planar<GrayF32>, Homography2D_F64> stabilize = FactoryMotion2D.createVideoStitch(0.5, motion2DColor, ImageType.pl(3, GrayF32.class));
    // Load an image sequence
    MediaManager media = DefaultMediaManager.INSTANCE;
    String fileName = UtilIO.pathExample("shake.mjpeg");
    SimpleImageSequence<Planar<GrayF32>> video = media.openVideo(fileName, ImageType.pl(3, GrayF32.class));
    Planar<GrayF32> frame = video.next();
    // The output image size is the same as the input image size
    stabilize.configure(frame.width, frame.height, null);
    // process the first frame
    stabilize.process(frame);
    // Create the GUI for displaying the results + input image
    ImageGridPanel gui = new ImageGridPanel(1, 2);
    gui.setImage(0, 0, new BufferedImage(frame.width, frame.height, BufferedImage.TYPE_INT_RGB));
    gui.setImage(0, 1, new BufferedImage(frame.width, frame.height, BufferedImage.TYPE_INT_RGB));
    gui.autoSetPreferredSize();
    ShowImages.showWindow(gui, "Example Stabilization", true);
    // process the video sequence one frame at a time
    while (video.hasNext()) {
        if (!stabilize.process(video.next()))
            throw new RuntimeException("Don't forget to handle failures!");
        // display the stabilized image
        ConvertBufferedImage.convertTo(frame, gui.getImage(0, 0), true);
        ConvertBufferedImage.convertTo(stabilize.getStitchedImage(), gui.getImage(0, 1), true);
        gui.repaint();
        // throttle the speed just in case it's on a fast computer
        BoofMiscOps.pause(50);
    }
}

Example 7 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector in project BoofCV by lessthanoptimal.

the class TestDdaManagerGeneralPoint method createTracker.

@Override
public PointTracker<GrayF32> createTracker() {
    DescribePointBrief<GrayF32> brief = FactoryDescribePointAlgs.brief(FactoryBriefDefinition.gaussian2(new Random(123), 16, 512), FactoryBlurFilter.gaussian(ImageType.single(GrayF32.class), 0, 4));
    GeneralFeatureDetector<GrayF32, GrayF32> corner = FactoryDetectPoint.createShiTomasi(new ConfigGeneralDetector(-1, 2, 0), false, GrayF32.class);
    ScoreAssociateHamming_B score = new ScoreAssociateHamming_B();
    AssociateDescription2D<TupleDesc_B> association = new AssociateDescTo2D<>(FactoryAssociation.greedy(score, 400, true));
    DescribeRegionPoint<GrayF32, TupleDesc_B> describe = new WrapDescribeBrief<>(brief, GrayF32.class);
    EasyGeneralFeatureDetector<GrayF32, GrayF32> easy = new EasyGeneralFeatureDetector<>(corner, GrayF32.class, GrayF32.class);
    DdaManagerGeneralPoint<GrayF32, GrayF32, TupleDesc_B> manager;
    manager = new DdaManagerGeneralPoint<>(easy, describe, 2);
    DetectDescribeAssociate<GrayF32, TupleDesc_B> tracker = new DetectDescribeAssociate<>(manager, association, false);
    return tracker;
}

Example 8 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector in project BoofCV by lessthanoptimal.

the class TestMonoOverhead_to_MonocularPlaneVisualOdometry method createAlgorithm.

protected MonocularPlaneVisualOdometry<GrayU8> createAlgorithm() {
    PkltConfig config = new PkltConfig();
    config.pyramidScaling = new int[] { 1, 2, 4, 8 };
    config.templateRadius = 3;
    ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 3, 1);
    PointTracker<GrayU8> tracker = FactoryPointTracker.klt(config, configDetector, GrayU8.class, GrayS16.class);
    double cellSize = 0.015;
    double ransacTol = 0.2;
    return FactoryVisualOdometry.monoPlaneOverhead(cellSize, 25, 0.5, ransacTol, 300, 2, 30, 0.5, 0.3, tracker, ImageType.single(GrayU8.class));
}

Example 9 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector in project BoofCV by lessthanoptimal.

the class TestWrapVisOdomPixelDepthPnP method createAlgorithm.

@Override
public StereoVisualOdometry<GrayF32> createAlgorithm() {
    StereoDisparitySparse<GrayF32> disparity = FactoryStereoDisparity.regionSparseWta(2, 150, 3, 3, 30, -1, true, GrayF32.class);
    PkltConfig config = new PkltConfig();
    config.pyramidScaling = new int[] { 1, 2, 4, 8 };
    config.templateRadius = 3;
    ConfigGeneralDetector configDetector = new ConfigGeneralDetector(600, 3, 1);
    PointTrackerTwoPass<GrayF32> tracker = FactoryPointTrackerTwoPass.klt(config, configDetector, GrayF32.class, GrayF32.class);
    return FactoryVisualOdometry.stereoDepth(1.5, 40, 2, 200, 50, false, disparity, tracker, GrayF32.class);
}

Example 10 with ConfigGeneralDetector

use of boofcv.abst.feature.detect.interest.ConfigGeneralDetector in project MAVSlam by ecmnet.

the class StreamRealSenseTest method start.

@Override
public void start(Stage primaryStage) {
    primaryStage.setTitle("BoofCV RealSense Demo");
    FlowPane root = new FlowPane();
    root.getChildren().add(ivrgb);
    ivrgb.setOnMouseMoved(event -> {
        MouseEvent ev = event;
        mouse_x = (int) ev.getX();
        mouse_y = (int) ev.getY();
    });
    // RealSenseInfo info = new RealSenseInfo(320,240, RealSenseInfo.MODE_RGB);
    RealSenseInfo info = new RealSenseInfo(640, 480, RealSenseInfo.MODE_RGB);
    try {
        realsense = new StreamRealSenseVisDepth(0, info);
    } catch (Exception e) {
        System.out.println("REALSENSE:" + e.getMessage());
        return;
    }
    mouse_x = info.width / 2;
    mouse_y = info.height / 2;
    primaryStage.setScene(new Scene(root, info.width, info.height));
    primaryStage.show();
    PkltConfig configKlt = new PkltConfig();
    configKlt.pyramidScaling = new int[] { 1, 2, 4, 8 };
    configKlt.templateRadius = 3;
    PointTrackerTwoPass<GrayU8> tracker = FactoryPointTrackerTwoPass.klt(configKlt, new ConfigGeneralDetector(900, 2, 1), GrayU8.class, GrayS16.class);
    DepthSparse3D<GrayU16> sparseDepth = new DepthSparse3D.I<GrayU16>(1e-3);
    // declares the algorithm
    MAVDepthVisualOdometry<GrayU8, GrayU16> visualOdometry = FactoryMAVOdometry.depthDepthPnP(1.2, 120, 2, 200, 50, true, sparseDepth, tracker, GrayU8.class, GrayU16.class);
    visualOdometry.setCalibration(realsense.getIntrinsics(), new DoNothingPixelTransform_F32());
    output = new BufferedImage(info.width, info.height, BufferedImage.TYPE_3BYTE_BGR);
    wirgb = new WritableImage(info.width, info.height);
    ivrgb.setImage(wirgb);
    realsense.registerListener(new Listener() {

        int fps;

        float mouse_depth;

        float md;

        int mc;

        int mf = 0;

        int fpm;

        @Override
        public void process(Planar<GrayU8> rgb, GrayU16 depth, long timeRgb, long timeDepth) {
            if ((System.currentTimeMillis() - tms) > 250) {
                tms = System.currentTimeMillis();
                if (mf > 0)
                    fps = fpm / mf;
                if (mc > 0)
                    mouse_depth = md / mc;
                mc = 0;
                md = 0;
                mf = 0;
                fpm = 0;
            }
            mf++;
            fpm += (int) (1f / ((timeRgb - oldTimeDepth) / 1000f) + 0.5f);
            oldTimeDepth = timeRgb;
            if (!visualOdometry.process(rgb.getBand(0), depth)) {
                bus1.writeObject(position);
                System.out.println("VO Failed!");
                visualOdometry.reset();
                return;
            }
            Se3_F64 leftToWorld = visualOdometry.getCameraToWorld();
            Vector3D_F64 T = leftToWorld.getT();
            AccessPointTracks3D points = (AccessPointTracks3D) visualOdometry;
            ConvertBufferedImage.convertTo(rgb, output, false);
            Graphics c = output.getGraphics();
            int count = 0;
            float total = 0;
            int dx = 0, dy = 0;
            int dist = 999;
            int x, y;
            int index = -1;
            for (int i = 0; i < points.getAllTracks().size(); i++) {
                if (points.isInlier(i)) {
                    c.setColor(Color.BLUE);
                    x = (int) points.getAllTracks().get(i).x;
                    y = (int) points.getAllTracks().get(i).y;
                    int d = depth.get(x, y);
                    if (d > 0) {
                        int di = (int) Math.sqrt((x - mouse_x) * (x - mouse_x) + (y - mouse_y) * (y - mouse_y));
                        if (di < dist) {
                            index = i;
                            dx = x;
                            dy = y;
                            dist = di;
                        }
                        total++;
                        if (d < 500) {
                            c.setColor(Color.RED);
                            count++;
                        }
                        c.drawRect(x, y, 1, 1);
                    }
                }
            }
            if (depth != null) {
                if (index > -1)
                    System.out.println(visualOdometry.getTrackLocation(index));
                mc++;
                md = md + depth.get(dx, dy) / 1000f;
                c.setColor(Color.GREEN);
                c.drawOval(dx - 3, dy - 3, 6, 6);
            }
            c.setColor(Color.CYAN);
            c.drawString("Fps:" + fps, 10, 20);
            c.drawString(String.format("Loc: %4.2f %4.2f %4.2f", T.x, T.y, T.z), 10, info.height - 10);
            c.drawString(String.format("Depth: %3.2f", mouse_depth), info.width - 85, info.height - 10);
            position.x = T.x;
            position.y = T.y;
            position.z = T.z;
            position.tms = timeRgb;
            bus1.writeObject(position);
            if ((count / total) > 0.6f) {
                c.setColor(Color.RED);
                c.drawString("WARNING!", info.width - 70, 20);
            }
            c.dispose();
            Platform.runLater(() -> {
                SwingFXUtils.toFXImage(output, wirgb);
            });
        }
    }).start();
}