Examples with ImageBase boofcv.struct.image.ImageBase used on opensource projects

Example 21 with ImageBase

use of boofcv.struct.image.ImageBase in project BoofCV by lessthanoptimal.

the class ExampleTrackerObjectQuad method main.

public static void main(String[] args) {
    MediaManager media = DefaultMediaManager.INSTANCE;
    String fileName = UtilIO.pathExample("tracking/wildcat_robot.mjpeg");
    // Create the tracker.  Comment/Uncomment to change the tracker.
    TrackerObjectQuad tracker = FactoryTrackerObjectQuad.circulant(null, GrayU8.class);
    // FactoryTrackerObjectQuad.sparseFlow(null,GrayU8.class,null);
    // FactoryTrackerObjectQuad.tld(null,GrayU8.class);
    // FactoryTrackerObjectQuad.meanShiftComaniciu2003(new ConfigComaniciu2003(), ImageType.pl(3, GrayU8.class));
    // FactoryTrackerObjectQuad.meanShiftComaniciu2003(new ConfigComaniciu2003(true),ImageType.pl(3,GrayU8.class));
    // Mean-shift likelihood will fail in this video, but is excellent at tracking objects with
    // a single unique color.  See ExampleTrackerMeanShiftLikelihood
    // FactoryTrackerObjectQuad.meanShiftLikelihood(30,5,255, MeanShiftLikelihoodType.HISTOGRAM,ImageType.pl(3,GrayU8.class));
    SimpleImageSequence video = media.openVideo(fileName, tracker.getImageType());
    // specify the target's initial location and initialize with the first frame
    Quadrilateral_F64 location = new Quadrilateral_F64(211.0, 162.0, 326.0, 153.0, 335.0, 258.0, 215.0, 249.0);
    ImageBase frame = video.next();
    tracker.initialize(frame, location);
    // For displaying the results
    TrackerObjectQuadPanel gui = new TrackerObjectQuadPanel(null);
    gui.setPreferredSize(new Dimension(frame.getWidth(), frame.getHeight()));
    gui.setImageUI((BufferedImage) video.getGuiImage());
    gui.setTarget(location, true);
    ShowImages.showWindow(gui, "Tracking Results", true);
    // Track the object across each video frame and display the results
    long previous = 0;
    while (video.hasNext()) {
        frame = video.next();
        boolean visible = tracker.process(frame, location);
        gui.setImageUI((BufferedImage) video.getGuiImage());
        gui.setTarget(location, visible);
        gui.repaint();
        // shoot for a specific frame rate
        long time = System.currentTimeMillis();
        BoofMiscOps.pause(Math.max(0, 80 - (time - previous)));
        previous = time;
    }
}

Example 22 with ImageBase

use of boofcv.struct.image.ImageBase in project BoofCV by lessthanoptimal.

the class TestConvolveJustBorder_General_SB method createInputParam.

@Override
protected Object[][] createInputParam(Method candidate, Method validation) {
    Class<?>[] paramTypes = candidate.getParameterTypes();
    KernelBase kernel = createKernel(paramTypes[0], kernelWidth, kernelWidth / 2);
    ImageBase src = ConvolutionTestHelper.createImage(validation.getParameterTypes()[1], width, height);
    GImageMiscOps.fillUniform(src, rand, 0, 5);
    ImageBase dst = ConvolutionTestHelper.createImage(validation.getParameterTypes()[2], width, height);
    Object[][] ret = new Object[2][paramTypes.length];
    // normal symmetric odd kernel
    ret[0][0] = kernel;
    ret[0][1] = GrayF32.class == src.getClass() ? ImageBorderValue.wrap((GrayF32) src, fillValue) : ImageBorderValue.wrap((GrayI) src, fillValue);
    ret[0][2] = dst;
    // change the offset
    kernel = createKernel(paramTypes[0], kernelWidth, kernelWidth / 2 - 1);
    ret[1][0] = kernel;
    ret[1][1] = GrayF32.class == src.getClass() ? ImageBorderValue.wrap((GrayF32) src, fillValue) : ImageBorderValue.wrap((GrayI) src, fillValue);
    ret[1][2] = ConvolutionTestHelper.createImage(validation.getParameterTypes()[2], width, height);
    return ret;
}

Example 23 with ImageBase

use of boofcv.struct.image.ImageBase in project BoofCV by lessthanoptimal.

the class GenericFiducialDetectorChecks method checkRemoveIntrinsic.

/**
 * Provide an intrinsic model then remove it
 */
@Test
public void checkRemoveIntrinsic() {
    for (ImageType type : types) {
        ImageBase image = loadImage(type);
        // detect with no intrinsics
        FiducialDetector detector = createDetector(type);
        detector.detect(image);
        assertFalse(detector.is3D());
        assertTrue(detector.totalFound() >= 1);
        Results expected = extractResults(detector);
        checkBounds(detector);
        // detect with intrinsics
        detector.setLensDistortion(loadDistortion(true), image.width, image.height);
        assertTrue(detector.is3D());
        assertTrue(detector.totalFound() >= 1);
        // detect without intrinsics again
        detector.setLensDistortion(null, 0, 0);
        assertFalse(detector.is3D());
        assertTrue(detector.totalFound() >= 1);
        Results found = extractResults(detector);
        // compare results
        assertEquals(expected.id.length, found.id.length);
        for (int i = 0; i < expected.id.length; i++) {
            assertEquals(expected.id[i], found.id[i]);
            assertTrue(expected.pose.get(i).T.distance(found.pose.get(i).T) <= 1e-4);
            assertTrue(MatrixFeatures_DDRM.isIdentical(expected.pose.get(i).getR(), found.pose.get(i).R, 1e-4));
            assertTrue(found.pixel.get(i).distance(expected.pixel.get(i)) <= 1e-4);
        }
    }
}

Example 24 with ImageBase

use of boofcv.struct.image.ImageBase in project BoofCV by lessthanoptimal.

the class GenericFiducialDetectorChecks method clearLensDistortion.

/**
 * Make sure lens distortion is removed if it was set previously and then removed
 */
// TODO remove test?  This should be a non-issue now
@Test
public void clearLensDistortion() {
    for (ImageType type : types) {
        ImageBase image = loadImage(type);
        FiducialDetector detector = createDetector(type);
        // save the results
        detector.setLensDistortion(loadDistortion(false), image.width, image.height);
        detector.detect(image);
        assertTrue(detector.totalFound() >= 1);
        Results before = extractResults(detector);
        // run with lens distortion
        detector.setLensDistortion(loadDistortion(true), image.width, image.height);
        detector.detect(image);
        // remove lens distortion
        detector.setLensDistortion(loadDistortion(false), image.width, image.height);
        detector.detect(image);
        Results after = extractResults(detector);
        // see if it's the same
        for (int i = 0; i < after.id.length; i++) {
            assertEquals(before.id[i], after.id[i]);
            assertEquals(0, before.pose.get(i).T.distance(after.pose.get(i).T), 1e-8);
            assertTrue(MatrixFeatures_DDRM.isIdentical(before.pose.get(i).R, after.pose.get(i).R, 1e-8));
            assertEquals(0, before.pixel.get(i).distance(after.pixel.get(i)), 1e-8);
        }
    }
}

Example 25 with ImageBase

use of boofcv.struct.image.ImageBase in project BoofCV by lessthanoptimal.

the class GenericFiducialDetectorChecks method checkImageLocation.

@Test
public void checkImageLocation() {
    for (ImageType type : types) {
        ImageBase image = loadImage(type);
        FiducialDetector detector = createDetector(type);
        // It's not specified if the center should be undistorted or distorted. Just make it easier by
        // using undistorted
        LensDistortionNarrowFOV distortion = loadDistortion(false);
        detector.setLensDistortion(distortion, image.width, image.height);
        detector.detect(image);
        assertTrue(detector.totalFound() >= 1);
        assertTrue(detector.is3D());
        for (int i = 0; i < detector.totalFound(); i++) {
            Se3_F64 fidToCam = new Se3_F64();
            Point2D_F64 found = new Point2D_F64();
            detector.getFiducialToCamera(i, fidToCam);
            detector.getCenter(i, found);
            Point2D_F64 rendered = new Point2D_F64();
            WorldToCameraToPixel worldToPixel = PerspectiveOps.createWorldToPixel(distortion, fidToCam);
            worldToPixel.transform(new Point3D_F64(0, 0, 0), rendered);
            // see if the reprojected is near the pixel location
            assertTrue(rendered.distance(found) <= pixelAndProjectedTol);
        }
    }
}