use of boofcv.alg.sfm.d2.StitchingFromMotion2D in project BoofCV by lessthanoptimal.
the class ExampleVideoMosaic method main.
public static void main(String[] args) {
// Configure the feature detector
ConfigGeneralDetector confDetector = new ConfigGeneralDetector();
confDetector.threshold = 1;
confDetector.maxFeatures = 300;
confDetector.radius = 3;
// 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(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
StitchingFromMotion2D.Corners corners = stitch.getImageCorners(frame.width, frame.height, null);
if (nearBorder(corners.p0, stitch) || nearBorder(corners.p1, stitch) || nearBorder(corners.p2, stitch) || nearBorder(corners.p3, 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.p0.x, (int) corners.p0.y, (int) corners.p1.x, (int) corners.p1.y);
g2.drawLine((int) corners.p1.x, (int) corners.p1.y, (int) corners.p2.x, (int) corners.p2.y);
g2.drawLine((int) corners.p2.x, (int) corners.p2.y, (int) corners.p3.x, (int) corners.p3.y);
g2.drawLine((int) corners.p3.x, (int) corners.p3.y, (int) corners.p0.x, (int) corners.p0.y);
gui.repaint();
// throttle the speed just in case it's on a fast computer
BoofMiscOps.pause(50);
}
}
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