boofcv.alg.sfm.overhead

Class SelectOverheadParameters

java.lang.Object

boofcv.alg.sfm.overhead.SelectOverheadParameters

public class SelectOverheadParameters
extends java.lang.Object

Give a camera's intrinsic and extrinsic parameters, selects a reasonable overhead view to render the image onto. It attempts to maximize viewing area. The user can crop the height of the overhead view to reduce the amount of unusable image space in the map. This is particularly useful for cameras at an acute angle relative to the ground plane. Overhead cameras pointed downward should set it to 1.0

Constructor Summary

Constructors

Constructor and Description
SelectOverheadParameters(double cellSize, double maxCellsPerPixel, double viewHeightFraction) Configure algorithm.

Method Summary

Modifier and Type	Method and Description
<T extends boofcv.struct.image.ImageBase<T>> OverheadView	createOverhead(boofcv.struct.image.ImageType<T> imageType) Creates a new instance of the overhead view
double	getCenterX()
double	getCenterY()
int	getOverheadHeight()
int	getOverheadWidth()
boolean	process(boofcv.struct.calib.CameraPinholeBrown intrinsic, georegression.struct.se.Se3_F64 planeToCamera) Computes the view's characteristics

Methods inherited from class java.lang.Object

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

Constructor Detail

SelectOverheadParameters

public SelectOverheadParameters(double cellSize,
                                double maxCellsPerPixel,
                                double viewHeightFraction)

Configure algorithm.

Parameters:

cellSize - Size of cells in plane in world units

maxCellsPerPixel - Specifies minimum resolution of a region in overhead image. A pixel in the camera can't overlap more than this number of cells. Higher values allow lower resolution regions. Try 4.

viewHeightFraction - Reduce the view height by this fraction to avoid excessive unusable image space. Set to 1.0 to maximize the viewing area and any value less than one to crop it.

Method Detail

process

public boolean process(boofcv.struct.calib.CameraPinholeBrown intrinsic,
                       georegression.struct.se.Se3_F64 planeToCamera)

Computes the view's characteristics

Parameters:

intrinsic - Intrinsic camera parameters

planeToCamera - Extrinsic camera parameters which specify the plane

Returns:

true if successful or false if it failed

createOverhead

public <T extends boofcv.struct.image.ImageBase<T>> OverheadView createOverhead(boofcv.struct.image.ImageType<T> imageType)

Creates a new instance of the overhead view

getOverheadWidth

public int getOverheadWidth()

getOverheadHeight

public int getOverheadHeight()

getCenterX

public double getCenterX()

getCenterY

public double getCenterY()