OverheadView (boofcv-sfm 0.36 API)

java.lang.Object
- boofcv.alg.sfm.overhead.OverheadView<T>

```
public class OverheadView<T extends boofcv.struct.image.ImageBase<T>>
extends java.lang.Object
```
Data structure for an overhead orthogonal view with known metric properties. Each pixel in the overhead view corresponds to a square of known size and location in the world. The each size of the square regions is specified by cellSize and the origin by (centerX,centerY).

The overhead +x axis corresponds to the world's +z axis and the image's +y axis corresponds to the world's -x axis. The user specify the origin by changing centerX and centerY parameters. It is common to set centerX = 0 , centerY = output.height*cellSize/2.0.

overhead pixels to world coordinates: (x,y) = (x_p,y_p)*cellSize - (centerX,centerY)
world coordinates to overhead pixels: (x_p,y_p) = [(x,y) - (centerX,centerY)]/cellSize

Notes:
- When rendering the overhead image objects to the left will appear on the right and the other way around. This is an artifact that in image's it's standard for +y to point down (clock-wise of +x), while on 2D maps the standard is +y being counter-clock-wise of +x.

Field Summary

Fields
Modifier and Type	Field	Description
`double`	`cellSize`	Size of each cell in the overhead image in world units.
`double`	`centerX`	X-coordinate of camera center in the overhead image in world units.
`double`	`centerY`	Y-coordinate of camera center in the overhead image in world units.
`T`	`image`	Image containing the overhead view.

Constructor Summary

Constructors
Constructor Description

OverheadView()

OverheadView(T image, double centerX, double centerY, double cellSize)

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`double`	`getCellSize()`
`double`	`getCenterX()`
`double`	`getCenterY()`
`T`	`getImage()`
`void`	`setCellSize(double cellSize)`
`void`	`setCenterX(double centerX)`
`void`	`setCenterY(double centerY)`
`void`	`setImage(T image)`

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail
- image
```
public T extends boofcv.struct.image.ImageBase<T> image
```
  Image containing the overhead view.
- centerX
```
public double centerX
```
  X-coordinate of camera center in the overhead image in world units.
- centerY
```
public double centerY
```
  Y-coordinate of camera center in the overhead image in world units.
- cellSize
```
public double cellSize
```
  Size of each cell in the overhead image in world units.

Constructor Detail

OverheadView
```
public OverheadView()
```

OverheadView

public OverheadView(T image,
                    double centerX,
                    double centerY,
                    double cellSize)

Method Detail

getImage
```
public T getImage()
```

setImage
```
public void setImage(T image)
```

getCenterX
```
public double getCenterX()
```

setCenterX

public void setCenterX(double centerX)

getCenterY
```
public double getCenterY()
```

setCenterY

public void setCenterY(double centerY)

getCellSize
```
public double getCellSize()
```

setCellSize

public void setCellSize(double cellSize)