/**
   * Runs a canny edge detector on the input image given the provided thresholds. If configured to
   * save a list of trace points then the output image is optional.
   *
   * <p>NOTE: Input and output can be the same instance, if the image type allows it.
   *
   * @param input Input image. Not modified.
   * @param threshLow Lower threshold. >= 0.
   * @param threshHigh Upper threshold. >= 0.
   * @param output (Might be option) Output binary image. Edge pixels are marked with 1 and
   *     everything else 0.
   */
  public void process(T input, float threshLow, float threshHigh, ImageUInt8 output) {

    if (threshLow < 0 || threshHigh < 0)
      throw new IllegalArgumentException("Threshold must be >= zero!");

    if (hysteresisMark != null) {
      if (output == null)
        throw new IllegalArgumentException(
            "An output image must be specified when configured to mark edge points");
    }

    // setup internal data structures
    blurred.reshape(input.width, input.height);
    derivX.reshape(input.width, input.height);
    derivY.reshape(input.width, input.height);
    intensity.reshape(input.width, input.height);
    suppressed.reshape(input.width, input.height);
    angle.reshape(input.width, input.height);
    direction.reshape(input.width, input.height);
    work.reshape(input.width, input.height);

    // run canny edge detector
    blur.process(input, blurred);
    gradient.process(blurred, derivX, derivY);
    GGradientToEdgeFeatures.intensityAbs(derivX, derivY, intensity);
    GGradientToEdgeFeatures.direction(derivX, derivY, angle);
    GradientToEdgeFeatures.discretizeDirection4(angle, direction);
    GradientToEdgeFeatures.nonMaxSuppression4(intensity, direction, suppressed);

    performThresholding(threshLow, threshHigh, output);
  }
  public boolean estimateCameraPose(BufferedImage leftEye) {

    if (!hasIntrinsic) return false;

    gray.reshape(leftEye.getWidth(), leftEye.getHeight());
    ConvertBufferedImage.convertFrom(leftEye, gray);

    if (!target.process(gray)) return false;

    if (!computeH.computeHomography(target.getDetectedPoints())) return false;

    DenseMatrix64F H = computeH.getHomography();

    targetToOrigin.set(decomposeH.decompose(H));

    return true;
  }
  public synchronized void process(final BufferedImage input) {
    this.input = input;
    workImage = new BufferedImage(input.getWidth(), input.getHeight(), BufferedImage.TYPE_INT_RGB);

    gray.reshape(input.getWidth(), input.getHeight());
    ConvertBufferedImage.convertFrom(input, gray, true);

    detectTarget();

    SwingUtilities.invokeLater(
        new Runnable() {
          public void run() {
            gui.setPreferredSize(new Dimension(input.getWidth(), input.getHeight()));
            renderOutput();
          }
        });
  }