@Override
protected void process(GrayU8 gray) {
if (paused) return;
if (!resetRequested && alg.process(gray)) {
GrayU8 stitched = alg.getStitchedImage();
synchronized (lockGui) {
ConvertBitmap.grayToBitmap(stitched, bitmap, storage);
ImageMotion2D<?, ?> motion = alg.getMotion();
if (showFeatures && (motion instanceof AccessPointTracks)) {
AccessPointTracks access = (AccessPointTracks) motion;
alg.getWorldToCurr(imageToDistorted);
imageToDistorted.invert(distortedToImage);
inliersGui.reset();
outliersGui.reset();
List<Point2D_F64> points = access.getAllTracks();
for (int i = 0; i < points.size(); i++) {
HomographyPointOps_F64.transform(distortedToImage, points.get(i), distPt);
if (access.isInlier(i)) {
inliersGui.grow().set(distPt.x, distPt.y);
} else {
outliersGui.grow().set(distPt.x, distPt.y);
}
}
}
alg.getImageCorners(gray.width, gray.height, corners);
}
boolean inside = true;
inside &= BoofMiscOps.checkInside(stitched, corners.p0.x, corners.p0.y, 5);
inside &= BoofMiscOps.checkInside(stitched, corners.p1.x, corners.p1.y, 5);
inside &= BoofMiscOps.checkInside(stitched, corners.p2.x, corners.p2.y, 5);
inside &= BoofMiscOps.checkInside(stitched, corners.p3.x, corners.p3.y, 5);
if (!inside) {
alg.setOriginToCurrent();
}
} else {
resetRequested = false;
alg.reset();
}
}
public static void main(String args[]) throws IOException {
List<String> fileNames = BoofMiscOps.directoryList("log", "depth");
Collections.sort(fileNames);
CombineFilesTogether.combine(fileNames, "combined.mpng");
}