/**
* 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();
}
});
}
