Package boofcv.alg.sfm.overhead

Class CameraPlaneProjection

  • public class CameraPlaneProjection
extends java.lang.Object
    Computes the location of a point on the plane from an observation in pixels and the reverse. See CreateSyntheticOverheadView for details about reference frames and how the plane is defined.

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      boolean normalToPlane​(double normX, double normY, georegression.struct.point.Point2D_F64 plane)
      Given a pixel in normalized coordinates, find the point on the plane.
      boolean pixelToPlane​(double pixelX, double pixelY, georegression.struct.point.Point2D_F64 plane)
      Given a pixel, find the point on the plane.
      boolean planeToNormalized​(double pointX, double pointY, georegression.struct.point.Point2D_F64 normalized)
      Given a point on the plane find the normalized image coordinate
      boolean planeToPixel​(double pointX, double pointY, georegression.struct.point.Point2D_F64 pixel)
      Given a point on the plane find the pixel in the image.
      void setConfiguration​(georegression.struct.se.Se3_F64 planeToCamera, boofcv.struct.calib.CameraPinholeBrown intrinsic)
      Configures the camera's intrinsic and extrinsic parameters
      void setIntrinsic​(boofcv.struct.calib.CameraPinholeBrown intrinsic)
      Configures the camera's intrinsic parameters
      void setPlaneToCamera​(georegression.struct.se.Se3_F64 planeToCamera, boolean computeInverse)
      Specifies camera's extrinsic parameters.

      • Methods inherited from class java.lang.Object

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

    • Constructor Detail

      • CameraPlaneProjection

        public CameraPlaneProjection()

    • Method Detail

      • setConfiguration

        public void setConfiguration​(georegression.struct.se.Se3_F64 planeToCamera,
                             boofcv.struct.calib.CameraPinholeBrown intrinsic)
        Configures the camera's intrinsic and extrinsic parameters
        Parameters:
        planeToCamera - Transform from the plane to the camera
        intrinsic - Pixel to normalized image coordinates

      • setIntrinsic

        public void setIntrinsic​(boofcv.struct.calib.CameraPinholeBrown intrinsic)
        Configures the camera's intrinsic parameters
        Parameters:
        intrinsic - Intrinsic camera parameters

      • setPlaneToCamera

        public void setPlaneToCamera​(georegression.struct.se.Se3_F64 planeToCamera,
                             boolean computeInverse)
        Specifies camera's extrinsic parameters.
        Parameters:
        planeToCamera - Transform from plane to camera reference frame
        computeInverse - Set to true if pixelToPlane is going to be called. performs extra calculation

      • planeToPixel

        public boolean planeToPixel​(double pointX,
                            double pointY,
                            georegression.struct.point.Point2D_F64 pixel)
        Given a point on the plane find the pixel in the image.
        Parameters:
        pointX - (input) Point on the plane, x-axis
        pointY - (input) Point on the plane, y-axis
        pixel - (output) Pixel in the image
        Returns:
        true if the point is in front of the camera. False if not.

      • planeToNormalized

        public boolean planeToNormalized​(double pointX,
                                 double pointY,
                                 georegression.struct.point.Point2D_F64 normalized)
        Given a point on the plane find the normalized image coordinate
        Parameters:
        pointX - (input) Point on the plane, x-axis
        pointY - (input) Point on the plane, y-axis
        normalized - (output) Normalized image coordinate of pixel
        Returns:
        true if the point is in front of the camera. False if not.

      • pixelToPlane

        public boolean pixelToPlane​(double pixelX,
                            double pixelY,
                            georegression.struct.point.Point2D_F64 plane)
        Given a pixel, find the point on the plane. Be sure computeInverse was set to true in setPlaneToCamera(georegression.struct.se.Se3_F64, boolean)
        Parameters:
        pixelX - (input) Pixel in the image, x-axis
        pixelY - (input) Pixel in the image, y-axis
        plane - (output) Point on the plane.
        Returns:
        true if a point on the plane was found in front of the camera

      • normalToPlane

        public boolean normalToPlane​(double normX,
                             double normY,
                             georegression.struct.point.Point2D_F64 plane)
        Given a pixel in normalized coordinates, find the point on the plane. Make sure invert was set to true in setPlaneToCamera(georegression.struct.se.Se3_F64, boolean)
        Parameters:
        normX - (input) Image pixel in normalized coordinates, x-axis
        normY - (input) Image pixel in normalized coordinates, y-axis
        plane - (output) Point on the plane.
        Returns:
        true if a point on the plane was found in front of the camera