Examples with ImageBorder1D_F32 boofcv.struct.border.ImageBorder1D_F32 used on opensource projects

Example 1 with ImageBorder1D_F32

use of boofcv.struct.border.ImageBorder1D_F32 in project BoofCV by lessthanoptimal.

the class TestKltTracker method testTracking_border2.

/**
 * Place a feature on the border then put it inside the image. See if it moves towards the border
 */
@Test
void testTracking_border2() {
    ImageMiscOps.fillUniform(image, rand, 1, 100);
    GradientSobel.process(image, derivX, derivY, new ImageBorder1D_F32(BorderIndex1D_Extend::new));
    KltTracker<GrayF32, GrayF32> tracker = createDefaultTracker();
    tracker.setImage(image, derivX, derivY);
    int r = 3;
    KltFeature feature = new KltFeature(r);
    // just outside the image
    feature.setPosition(imageWidth - r - 1 + 1, imageHeight - r - 1 + 1);
    tracker.setDescription(feature);
    // now fully inside the image
    feature.setPosition(imageWidth - r - 1, imageHeight - r - 1);
    // see if it got sucked back
    assertSame(KltTrackFault.SUCCESS, tracker.track(feature));
    assertEquals(imageWidth - r - 1 + 1, feature.x, 0.01);
    assertEquals(imageHeight - r - 1 + 1, feature.y, 0.01);
    // same thing but with the top left image
    feature.setPosition(r - 1, 1);
    tracker.setDescription(feature);
    // put it fully inside the image
    feature.setPosition(r, r);
    // see if it got sucked back
    assertSame(KltTrackFault.SUCCESS, tracker.track(feature));
    assertEquals(r - 1, feature.x, 0.01);
    assertEquals(1, feature.y, 0.01);
}

Example 2 with ImageBorder1D_F32

use of boofcv.struct.border.ImageBorder1D_F32 in project BoofCV by lessthanoptimal.

the class TestKltTracker method testSubImages.

/**
 * Process the same features in two different sets of image. only difference is that one is a sub image
 * results should be identical
 */
@Test
void testSubImages() {
    ImageMiscOps.fillUniform(image, rand, 0, 100);
    GradientSobel.process(image, derivX, derivY, new ImageBorder1D_F32(BorderIndex1D_Extend::new));
    KltTracker<GrayF32, GrayF32> trackerA = createDefaultTracker();
    trackerA.setImage(image, derivX, derivY);
    KltTracker<GrayF32, GrayF32> trackerB = createDefaultTracker();
    GrayF32 image = BoofTesting.createSubImageOf(this.image);
    GrayF32 derivX = BoofTesting.createSubImageOf(this.derivX);
    GrayF32 derivY = BoofTesting.createSubImageOf(this.derivY);
    trackerB.setImage(image, derivX, derivY);
    for (int y = 0; y < imageHeight; y += 4) {
        for (int x = 0; x < imageWidth; x += 4) {
            KltFeature featureA = new KltFeature(3);
            KltFeature featureB = new KltFeature(3);
            featureA.setPosition(x, y);
            featureB.setPosition(x, y);
            trackerA.setDescription(featureA);
            trackerB.setDescription(featureB);
            float dx = rand.nextFloat() * 2 - 1;
            float dy = rand.nextFloat() * 2 - 1;
            featureA.setPosition(x + dx, y + dy);
            featureB.setPosition(x + dx, y + dy);
            KltTrackFault faultA = trackerA.track(featureA);
            KltTrackFault faultB = trackerB.track(featureB);
            assertSame(faultA, faultB);
            if (faultA == KltTrackFault.SUCCESS) {
                assertEquals(featureB.x, featureA.x);
                assertEquals(featureB.y, featureA.y);
            }
        }
    }
}

Example 3 with ImageBorder1D_F32

use of boofcv.struct.border.ImageBorder1D_F32 in project BoofCV by lessthanoptimal.

the class TestKltTracker method setDescription_compare.

/**
 * Compares the border algorithm to the inner algorithm
 */
@Test
void setDescription_compare() {
    ImageMiscOps.fillUniform(image, rand, 0, 100);
    GradientSobel.process(image, derivX, derivY, new ImageBorder1D_F32(BorderIndex1D_Extend::new));
    KltTracker<GrayF32, GrayF32> tracker = createDefaultTracker();
    tracker.setImage(image, derivX, derivY);
    KltFeature featureA = new KltFeature(3);
    KltFeature featureB = new KltFeature(3);
    featureA.setPosition(20.6f, 25.1f);
    featureB.setPosition(20.6f, 25.1f);
    tracker.setAllowedBounds(featureA);
    tracker.internalSetDescription(featureA, derivX, derivY);
    tracker.internalSetDescriptionBorder(featureB, derivX, derivY);
    for (int i = 0; i < featureA.desc.data.length; i++) {
        assertEquals(featureB.desc.data[i], featureA.desc.data[i]);
        assertEquals(featureB.derivX.data[i], featureA.derivX.data[i]);
        assertEquals(featureB.derivY.data[i], featureA.derivY.data[i]);
    }
}

Example 4 with ImageBorder1D_F32

use of boofcv.struct.border.ImageBorder1D_F32 in project BoofCV by lessthanoptimal.

the class TestPyramidKltTracker method setTargetLocation.

private void setTargetLocation(int x, int y) {
    ImageMiscOps.fillUniform(image, rand, 0, 1);
    ImageMiscOps.fillRectangle(image, 100, x, y, 20, 20);
    pyramid.process(image);
    for (int i = 0; i < pyramid.getNumLayers(); i++) {
        GradientSobel.process(pyramid.getLayer(i), derivX[i], derivY[i], new ImageBorder1D_F32(BorderIndex1D_Extend::new));
    }
}

Example 5 with ImageBorder1D_F32

use of boofcv.struct.border.ImageBorder1D_F32 in project BoofCV by lessthanoptimal.

the class TestKltTracker method compare_computeGandE_border_toInsideImage.

@Test
void compare_computeGandE_border_toInsideImage() {
    ImageMiscOps.fillUniform(image, rand, 0, 100);
    GradientSobel.process(image, derivX, derivY, new ImageBorder1D_F32(BorderIndex1D_Extend::new));
    KltTracker<GrayF32, GrayF32> tracker = createDefaultTracker();
    tracker.setImage(image, derivX, derivY);
    KltFeature feature = new KltFeature(2);
    feature.setPosition(20, 22);
    tracker.setDescription(feature);
    tracker.currDesc.reshape(5, 5);
    // need to compute E from a shifted location or else it will be zero
    tracker.computeE(feature, 21, 23);
    float expectedGxx = feature.Gxx;
    float expectedGxy = feature.Gxy;
    float expectedGyy = feature.Gyy;
    float expectedEx = tracker.Ex;
    float expectedEy = tracker.Ey;
    assertTrue(0 != expectedGxx);
    assertTrue(0 != expectedEy);
    assertEquals(25, tracker.computeGandE_border(feature, 20, 22));
    assertEquals(expectedGxx, tracker.Gxx, 1e-8);
    assertEquals(expectedGxy, tracker.Gxy, 1e-8);
    assertEquals(expectedGyy, tracker.Gyy, 1e-8);
    assertEquals(25, tracker.computeGandE_border(feature, 21, 23));
    assertEquals(expectedEx, tracker.Ex, 1e-8);
    assertEquals(expectedEy, tracker.Ey, 1e-8);
}