Package boofcv.alg.sfm.overhead

Class 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 Description
      SelectOverheadParameters​(double cellSize, double maxCellsPerPixel, double viewHeightFraction)
      Configure algorithm.

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method 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()