Examples with PlToGrayMotion2D boofcv.abst.sfm.d2.PlToGrayMotion2D used on opensource projects

Example 1 with PlToGrayMotion2D

use of boofcv.abst.sfm.d2.PlToGrayMotion2D in project BoofCV by lessthanoptimal.

the class ExampleVideoMosaic method main.

public static void main(String[] args) {
    // Configure the feature detector
    ConfigPointDetector configDetector = new ConfigPointDetector();
    configDetector.type = PointDetectorTypes.SHI_TOMASI;
    configDetector.general.maxFeatures = 300;
    configDetector.general.radius = 3;
    configDetector.general.threshold = 1;
    // Use a KLT tracker
    PointTracker<GrayF32> tracker = FactoryPointTracker.klt(4, configDetector, 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(220, 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> stitch = FactoryMotion2D.createVideoStitch(0.5, motion2DColor, ImageType.pl(3, GrayF32.class));
    // Load an image sequence
    MediaManager media = DefaultMediaManager.INSTANCE;
    String fileName = UtilIO.pathExample("mosaic/airplane01.mjpeg");
    SimpleImageSequence<Planar<GrayF32>> video = media.openVideo(fileName, ImageType.pl(3, GrayF32.class));
    Planar<GrayF32> frame = video.next();
    // shrink the input image and center it
    Homography2D_F64 shrink = new Homography2D_F64(0.5, 0, frame.width / 4, 0, 0.5, frame.height / 4, 0, 0, 1);
    shrink = shrink.invert(null);
    // The mosaic will be larger in terms of pixels but the image will be scaled down.
    // To change this into stabilization just make it the same size as the input with no shrink.
    stitch.configure(frame.width, frame.height, shrink);
    // process the first frame
    stitch.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.setPreferredSize(new Dimension(3 * frame.width, frame.height * 2));
    ShowImages.showWindow(gui, "Example Mosaic", true);
    boolean enlarged = false;
    // process the video sequence one frame at a time
    while (video.hasNext()) {
        frame = video.next();
        if (!stitch.process(frame))
            throw new RuntimeException("You should handle failures");
        // if the current image is close to the image border recenter the mosaic
        Quadrilateral_F64 corners = stitch.getImageCorners(frame.width, frame.height, null);
        if (nearBorder(corners.a, stitch) || nearBorder(corners.b, stitch) || nearBorder(corners.c, stitch) || nearBorder(corners.d, stitch)) {
            stitch.setOriginToCurrent();
            // only enlarge the image once
            if (!enlarged) {
                enlarged = true;
                // double the image size and shift it over to keep it centered
                int widthOld = stitch.getStitchedImage().width;
                int heightOld = stitch.getStitchedImage().height;
                int widthNew = widthOld * 2;
                int heightNew = heightOld * 2;
                int tranX = (widthNew - widthOld) / 2;
                int tranY = (heightNew - heightOld) / 2;
                Homography2D_F64 newToOldStitch = new Homography2D_F64(1, 0, -tranX, 0, 1, -tranY, 0, 0, 1);
                stitch.resizeStitchImage(widthNew, heightNew, newToOldStitch);
                gui.setImage(0, 1, new BufferedImage(widthNew, heightNew, BufferedImage.TYPE_INT_RGB));
            }
            corners = stitch.getImageCorners(frame.width, frame.height, null);
        }
        // display the mosaic
        ConvertBufferedImage.convertTo(frame, gui.getImage(0, 0), true);
        ConvertBufferedImage.convertTo(stitch.getStitchedImage(), gui.getImage(0, 1), true);
        // draw a red quadrilateral around the current frame in the mosaic
        Graphics2D g2 = gui.getImage(0, 1).createGraphics();
        g2.setColor(Color.RED);
        g2.drawLine((int) corners.a.x, (int) corners.a.y, (int) corners.b.x, (int) corners.b.y);
        g2.drawLine((int) corners.b.x, (int) corners.b.y, (int) corners.c.x, (int) corners.c.y);
        g2.drawLine((int) corners.c.x, (int) corners.c.y, (int) corners.d.x, (int) corners.d.y);
        g2.drawLine((int) corners.d.x, (int) corners.d.y, (int) corners.a.x, (int) corners.a.y);
        gui.repaint();
        // throttle the speed just in case it's on a fast computer
        BoofMiscOps.pause(50);
    }
}

Example 2 with PlToGrayMotion2D

use of boofcv.abst.sfm.d2.PlToGrayMotion2D in project BoofCV by lessthanoptimal.

the class ExampleVideoStabilization method main.

public static void main(String[] args) {
    // Configure the feature detector
    ConfigPointDetector configDetector = new ConfigPointDetector();
    configDetector.type = PointDetectorTypes.SHI_TOMASI;
    configDetector.general.maxFeatures = 300;
    configDetector.general.threshold = 10;
    configDetector.general.radius = 2;
    // Use a KLT tracker
    PointTracker<GrayF32> tracker = FactoryPointTracker.klt(4, configDetector, 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 3 with PlToGrayMotion2D

use of boofcv.abst.sfm.d2.PlToGrayMotion2D in project BoofCV by lessthanoptimal.

the class VideoStitchBaseApp method createAlgorithm.

protected StitchingFromMotion2D createAlgorithm(PointTracker<I> tracker) {
    if (imageType.getFamily() == ImageType.Family.PLANAR) {
        Class imageClass = this.imageType.getImageClass();
        ImageMotion2D<I, IT> motion = FactoryMotion2D.createMotion2D(maxIterations, inlierThreshold, 2, absoluteMinimumTracks, respawnTrackFraction, respawnCoverageFraction, false, tracker, fitModel);
        ImageMotion2D motion2DColor = new PlToGrayMotion2D(motion, imageClass);
        return FactoryMotion2D.createVideoStitch(maxJumpFraction, motion2DColor, imageType);
    } else {
        ImageMotion2D motion = FactoryMotion2D.createMotion2D(maxIterations, inlierThreshold, 2, absoluteMinimumTracks, respawnTrackFraction, respawnCoverageFraction, false, tracker, fitModel);
        return FactoryMotion2D.createVideoStitch(maxJumpFraction, motion, imageType);
    }
}