boofcv.alg.sfm.overhead

Class CreateSyntheticOverheadView<T extends boofcv.struct.image.ImageBase<T>>

java.lang.Object

boofcv.alg.sfm.overhead.CreateSyntheticOverheadView<T>

Direct Known Subclasses:

CreateSyntheticOverheadViewPL, CreateSyntheticOverheadViewS

public abstract class CreateSyntheticOverheadView<T extends boofcv.struct.image.ImageBase<T>>
extends java.lang.Object

Converts a camera image into an overhead orthogonal view with known metric properties given a known transform from the plane to camera. This will only produce a valid orthogonal view when the surface being viewed is entirely planar, non-planar objects are heavily distorted. See OverheadView for more details.

Usage Notes:

• The plane is defined using a Se3_F64 which describes the transform from the plane to the camera.
• In the plane's reference frame the plane's normal vector is (0,1,0) or (0,-1,0) and contains the point (0,0,0).

Implementation Notes:
The transform is precomputed and stored in an array which is w*h*2*8 bytes, where (w,h) is the size of the overhead image.

Field Summary

Fields

Modifier and Type	Field and Description
protected georegression.struct.point.Point2D_F32[]	mapPixels
protected int	overheadHeight
protected int	overheadWidth

Constructor Summary

Constructors

Constructor and Description
CreateSyntheticOverheadView()

Method Summary

Modifier and Type	Method and Description
void	configure(boofcv.struct.calib.CameraPinholeBrown intrinsic, georegression.struct.se.Se3_F64 planeToCamera, double centerX, double centerY, double cellSize, int overheadWidth, int overheadHeight) Specifies camera configurations.
georegression.struct.point.Point2D_F32	getOverheadToPixel(int x, int y) Returns corresponding pixel to pixel coordinate in overhead image
abstract void	process(T input, T output) Computes overhead view of input image.

Methods inherited from class java.lang.Object

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

Field Detail

overheadWidth

protected int overheadWidth

overheadHeight

protected int overheadHeight

mapPixels

protected georegression.struct.point.Point2D_F32[] mapPixels

Constructor Detail

CreateSyntheticOverheadView

public CreateSyntheticOverheadView()

Method Detail

configure

public void configure(boofcv.struct.calib.CameraPinholeBrown intrinsic,
                      georegression.struct.se.Se3_F64 planeToCamera,
                      double centerX,
                      double centerY,
                      double cellSize,
                      int overheadWidth,
                      int overheadHeight)

Specifies camera configurations.

Parameters:

intrinsic - Intrinsic camera parameters

planeToCamera - Transform from the plane to the camera. This is the extrinsic parameters.

centerX - X-coordinate of camera center in the overhead image in world units.

centerY - Y-coordinate of camera center in the overhead image in world units.

cellSize - Size of each cell in the overhead image in world units.

overheadWidth - Number of columns in overhead image

overheadHeight - Number of rows in overhead image

getOverheadToPixel

public georegression.struct.point.Point2D_F32 getOverheadToPixel(int x,
                                                                 int y)

Returns corresponding pixel to pixel coordinate in overhead image

Parameters:

x - overhead pixel x-coordinate

y - overhead pixel y-coordinate

Returns:

Pixel in camera image

process

public abstract void process(T input,
                             T output)

Computes overhead view of input image.

Parameters:

input - (Input) Camera image.

output - (Output) Image containing overhead view.