@Override
protected void declareImages(int width, int height) {
super.declareImages(width, height);
outputWidth = width * 2;
outputHeight = height;
int tx = outputWidth / 2 - width / 4;
int ty = outputHeight / 2 - height / 4;
Affine2D_F64 init = new Affine2D_F64(0.5, 0, 0, 0.5, tx, ty);
init = init.invert(null);
alg.configure(outputWidth, outputHeight, init);
bitmap = Bitmap.createBitmap(outputWidth, outputHeight, Bitmap.Config.ARGB_8888);
storage = ConvertBitmap.declareStorage(bitmap, storage);
}
@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();
}
}