/**
* Processes the video data and displays it in a Bitmap image. The bitmap is automatically scaled
* and translated into the display's center by {@link VideoActivity}. Locking of data structures is
* all handled by the parent.
*
* @author Peter Abeles
*/
public class ShowGradient extends VideoImageProcessing<GrayU8> {
// Storage for the gradient
private GrayS16 derivX = new GrayS16(1, 1);
private GrayS16 derivY = new GrayS16(1, 1);
// computes the image gradient
private ImageGradient<GrayU8, GrayS16> gradient =
FactoryDerivative.three(GrayU8.class, GrayS16.class);
protected ShowGradient() {
super(ImageType.single(GrayU8.class));
}
@Override
protected void declareImages(int width, int height) {
// You must call the super or else it will crash horribly
super.declareImages(width, height);
derivX.reshape(width, height);
derivY.reshape(width, height);
}
@Override
protected void process(GrayU8 gray, Bitmap output, byte[] storage) {
gradient.process(gray, derivX, derivY);
VisualizeImageData.colorizeGradient(derivX, derivY, -1, output, storage);
}
}
protected void checkMotion(double tranX, double tranY, double rot) {
ImageUInt8 frame0 = new ImageUInt8(320, 240);
ImageUInt8 frame1 = new ImageUInt8(320, 240);
ImageMiscOps.fillUniform(frame0, rand, 0, 256);
double c = Math.cos(rot);
double s = Math.sin(rot);
DistortImageOps.affine(frame0, frame1, TypeInterpolate.BILINEAR, c, -s, s, c, tranX, tranY);
SfotConfig config = new SfotConfig();
ImageGradient<ImageUInt8, ImageSInt16> gradient =
FactoryDerivative.sobel(ImageUInt8.class, ImageSInt16.class);
SparseFlowObjectTracker<ImageUInt8, ImageSInt16> alg =
new SparseFlowObjectTracker<ImageUInt8, ImageSInt16>(
config, ImageUInt8.class, ImageSInt16.class, gradient);
RectangleRotate_F64 region0 = new RectangleRotate_F64(120, 140, 30, 40, 0.1);
RectangleRotate_F64 region1 = new RectangleRotate_F64();
alg.init(frame0, region0);
assertTrue(alg.update(frame1, region1));
double expectedX = c * region0.cx - s * region0.cy + tranX;
double expectedY = s * region0.cx + c * region0.cy + tranY;
double expectedYaw = UtilAngle.bound(region0.theta + rot);
assertEquals(expectedX, region1.cx, 0.5);
assertEquals(expectedY, region1.cy, 0.5);
assertEquals(expectedYaw, region1.theta, 0.01);
}
public static void evaluate(String dataset) {
Class type = ImageFloat32.class;
DebugTldTrackerTldData generator = new DebugTldTrackerTldData(ImageType.single(type));
InterpolatePixelS interpolate = FactoryInterpolation.bilinearPixelS(type, BorderType.EXTENDED);
ImageGradient gradient = FactoryDerivative.sobel(type, type);
TldTracker tracker = new TldTracker(null, interpolate, gradient, type, type);
generator.evaluate(dataset, tracker);
}
public WrapFusedKltTracker(
InterestPointDetector<I> detector, PyramidKltForCombined<I, D> tracker, Class<I> imageType) {
this.detector = detector;
this.tracker = tracker;
derivType = GImageDerivativeOps.getDerivativeType(imageType);
gradient = FactoryDerivative.sobel(imageType, derivType);
int pyramidScaling[] = tracker.pyramidScaling;
pyramid = FactoryPyramid.discreteGaussian(pyramidScaling, -1, 2, true, imageType);
}
