Example Video Mosaic

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  Rectified uncalibrated stereo pair. Note how the y-axis of features are aligned.

An image mosaic is created by combining numerious images together to create one large one. In this example, it is demonstrated how to create a mosaic from a video image in real-time using a high level interface which hides much of the complexity. The mosaic is created by tracking image features and fitting a motion model (affine or homography) to the feature's location in each frame.

Example File: ExampleVideoMosaic.java

Concepts:

• Image Stitching
• Image Mosaic
• 2D image motion

Relevant Applets:

• Video Mosaic
  • Video

Related Examples:

• Image Stitching

Example Code

/**
 * Example of how to create a mosaic from a video sequence using StitchingFromMotion2D.  Mosaics work best
 * when the scene being observed is far away or a flat surface.  The camera motion should typically be rotational only,
 * but translation can work depending on the scene's geometry.  Motion blur and cheap cameras in general will degrade
 * performance significantly with the current algorithm.  This example just demonstrates a gray scale image, but
 * with additional work color images can also be processed.
 *
 * @author Peter Abeles
 */
public class ExampleVideoMosaic {
	public static void main( String args[] ) {

		// Configure the feature detector
		ConfigGeneralDetector confDetector = new ConfigGeneralDetector();
		confDetector.threshold = 10;
		confDetector.maxFeatures = 300;
		confDetector.radius = 2;

		// Use a KLT tracker
		PointTracker<ImageFloat32> tracker = FactoryPointTracker.klt(new int[]{1,2,4,8},confDetector,3,
				ImageFloat32.class,ImageFloat32.class);

		// This estimates the 2D image motion
		// An Affine2D_F64 model also works quite well.
		ImageMotion2D<ImageFloat32,Homography2D_F64> motion2D =
				FactoryMotion2D.createMotion2D(200,3,2,30,0.6,0.5,false,tracker,new Homography2D_F64());

		// This fuses the images together
		StitchingFromMotion2D<ImageFloat32,Homography2D_F64>
				stitch = FactoryMotion2D.createVideoStitch(0.5, motion2D, ImageFloat32.class);

		// Load an image sequence
		MediaManager media = DefaultMediaManager.INSTANCE;
		String fileName = "../data/applet/mosaic/airplane01.mjpeg";
		SimpleImageSequence<ImageFloat32> video = media.openVideo(fileName,ImageFloat32.class);

		ImageFloat32 frame = video.next();

		// shrink the input image and center it
		Homography2D_F64 shrink = new Homography2D_F64(0.5,0,frame.width/3,0,0.5,frame.height/2,0,0,1);
		shrink = shrink.invert(null);

		// Make the mosaic image the same size as the input image
		stitch.configure(frame.width*2,3*frame.height/2,shrink);
		// process the first frame
		stitch.process(frame);

		// Create the GUI for displaying the results + input image
		ImageGridPanel gui = new ImageGridPanel(1,2);
		gui.setImage(0,0,new BufferedImage(frame.width,frame.height,BufferedImage.TYPE_INT_RGB));
		gui.setImage(0,1,new BufferedImage(frame.width*2,3*frame.height/2,BufferedImage.TYPE_INT_RGB));
		gui.autoSetPreferredSize();

		ShowImages.showWindow(gui,"Example Mosaic");

		// process the video sequence one frame at a time
		while( video.hasNext() ) {
			frame = video.next();
			stitch.process(frame);

			// if the current image is close to the image border recenter the mosaic
			StitchingFromMotion2D.Corners corners = stitch.getImageCorners(frame.width,frame.height,null);
			if( nearBorder(corners.p0,stitch) || nearBorder(corners.p1,stitch) ||
					nearBorder(corners.p2,stitch) || nearBorder(corners.p3,stitch) ) {
				stitch.setOriginToCurrent();
			}

			// display the mosaic
			ConvertBufferedImage.convertTo(frame,gui.getImage(0, 0));
			ConvertBufferedImage.convertTo(stitch.getStitchedImage(), gui.getImage(0, 1));

			gui.repaint();

			// throttle the speed just in case it's on a fast computer
			BoofMiscOps.pause(50);
		}
	}

	/**
	 * Checks to see if the point is near the image border
	 */
	private static boolean nearBorder( Point2D_F64 p , StitchingFromMotion2D<?,?> stitch ) {
		int r = 10;
		if( p.x < r || p.y < r )
			return true;
		if( p.x >= stitch.getStitchedImage().width-r )
			return true;
		if( p.y >= stitch.getStitchedImage().height-r )
			return true;

		return false;
	}
}