Package boofcv.alg.sfm.d2

Class StitchingFromMotion2D<I extends boofcv.struct.image.ImageBase<I>,IT extends georegression.struct.InvertibleTransform>

java.lang.Object

boofcv.alg.sfm.d2.StitchingFromMotion2D<I,IT>

public class StitchingFromMotion2D<I extends boofcv.struct.image.ImageBase<I>,IT extends georegression.struct.InvertibleTransform>
extends java.lang.Object

Stitches together sequences of images using ImageMotion2D, typically used for image stabilization and creating mosaics. Internally any motion model in the Homogeneous family can be used. For convenience, those models are converted into a Homography2D_F64 on output. The size of the stitch region is specified using configure(int, int, georegression.struct.InvertibleTransform) which must be called before any images are processed. One of the parameters include an initial transform. The initial transform can be used to scale/translate/other the input image. A sudden change or jump in the shape of the view area can be an indication of a bad motion estimate. If a large jump larger than the user specified threshold is detected then process(boofcv.struct.image.ImageBase) will return false.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	StitchingFromMotion2D.Corners

Constructor Summary

Constructors

Constructor	Description
StitchingFromMotion2D(ImageMotion2D<I,IT> motion, boofcv.alg.distort.ImageDistort<I,I> distorter, StitchingTransform<IT> converter, double maxJumpFraction)	Provides internal algorithms and tuning parameters.

Method Summary

Modifier and Type	Method	Description
void	configure(int widthStitch, int heightStitch, IT worldToInit)	Specifies size of stitch image and the location of the initial coordinate system.
StitchingFromMotion2D.Corners	getImageCorners(int width, int height, StitchingFromMotion2D.Corners corners)	Returns the location of the input image's corners inside the stitch image.
ImageMotion2D<I,IT>	getMotion()
I	getStitchedImage()
IT	getWorldToCurr()
georegression.struct.homography.Homography2D_F64	getWorldToCurr(georegression.struct.homography.Homography2D_F64 storage)	Transform from world coordinate system into the current image frame.
boolean	process(I image)	Estimates the image motion and updates stitched image.
void	reset()	Throws away current results and starts over again
void	resizeStitchImage(int widthStitch, int heightStitch, IT newToOldStitch)	Resizes the stitch image.
void	setOriginToCurrent()	Sets the current image to be the origin of the stitched coordinate system.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

StitchingFromMotion2D

public StitchingFromMotion2D(ImageMotion2D<I,IT> motion,
                             boofcv.alg.distort.ImageDistort<I,I> distorter,
                             StitchingTransform<IT> converter,
                             double maxJumpFraction)

Provides internal algorithms and tuning parameters.

Parameters:

motion - Estimates image motion

distorter - Applies found transformation to stitch images

converter - Converts internal model into a homogenous transformation

maxJumpFraction - If the view area changes by more than this fraction a fault is declared

Method Detail

configure

public void configure(int widthStitch,
                      int heightStitch,
                      IT worldToInit)

Specifies size of stitch image and the location of the initial coordinate system.

Parameters:

widthStitch - Width of the image being stitched into

heightStitch - Height of the image being stitched into

worldToInit - (Option) Used to change the location of the initial frame in stitched image. null means no transform.

process

public boolean process(I image)

Estimates the image motion and updates stitched image. If it is unable to estimate the motion then false is returned and the stitched image is left unmodified. If false is returned then in most situations it is best to call reset() and start over.

Parameters:

image - Next image in the sequence

Returns:

True if the stitched image is updated and false if it failed and was not

reset

public void reset()

Throws away current results and starts over again

setOriginToCurrent

public void setOriginToCurrent()

Sets the current image to be the origin of the stitched coordinate system. The background is filled with a value of 0. Must be called after process(boofcv.struct.image.ImageBase).

resizeStitchImage

public void resizeStitchImage(int widthStitch,
                              int heightStitch,
                              IT newToOldStitch)

Resizes the stitch image. If no transform is provided then the old stitch region is simply places on top of the new one and copied. Pixels which do not exist in the old image are filled with zero.

Parameters:

widthStitch - The new width of the stitch image.

heightStitch - The new height of the stitch image.

newToOldStitch - (Optional) Transform from new stitch image pixels to old stick pixels. Can be null.

getImageCorners

public StitchingFromMotion2D.Corners getImageCorners(int width,
                                                     int height,
                                                     StitchingFromMotion2D.Corners corners)

Returns the location of the input image's corners inside the stitch image.

Returns:

image corners

getWorldToCurr

public georegression.struct.homography.Homography2D_F64 getWorldToCurr(georegression.struct.homography.Homography2D_F64 storage)

Transform from world coordinate system into the current image frame.

Returns:

Transformation

getWorldToCurr

public IT getWorldToCurr()

getStitchedImage

public I getStitchedImage()

getMotion

public ImageMotion2D<I,IT> getMotion()