boofcv.struct.calib

Class MonoPlaneParameters

java.lang.Object

boofcv.struct.calib.MonoPlaneParameters

public class MonoPlaneParameters
extends Object

Calibration parameters when the intrinsic parameters for a single camera is known and the location of the camera relative to the ground plane. In the plane's reference frame, the plane is parallel to the x-z plane and contains point (0,0,0).

Author:

Peter Abeles

Field Summary

Fields

Modifier and Type	Field and Description
IntrinsicParameters	intrinsic Intrinsic parameters for the camera
georegression.struct.se.Se3_F64	planeToCamera Extrinsic parameters for the camera.

Constructor Summary

Constructors

Constructor and Description
MonoPlaneParameters()
MonoPlaneParameters(IntrinsicParameters intrinsic, georegression.struct.se.Se3_F64 planeToCamera)

Method Summary

Methods

Modifier and Type	Method and Description
IntrinsicParameters	getIntrinsic()
georegression.struct.se.Se3_F64	getPlaneToCamera()
void	setIntrinsic(IntrinsicParameters intrinsic)
void	setPlaneToCamera(georegression.struct.se.Se3_F64 planeToCamera)

Methods inherited from class java.lang.Object

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

Field Detail

intrinsic

public IntrinsicParameters intrinsic

Intrinsic parameters for the camera

planeToCamera

public georegression.struct.se.Se3_F64 planeToCamera

Extrinsic parameters for the camera. Transform from plane to camera coordinate system. This is technically over specified since only orientation (3-DOF) and distance from plane (1-DOF) is needed. The extra degrees of freedom can be used to specify the local coordinate (e.g. robot) completely and simplify various camera transforms.

Constructor Detail

MonoPlaneParameters

public MonoPlaneParameters(IntrinsicParameters intrinsic,
                   georegression.struct.se.Se3_F64 planeToCamera)

MonoPlaneParameters

public MonoPlaneParameters()

Method Detail

getIntrinsic

public IntrinsicParameters getIntrinsic()

setIntrinsic

public void setIntrinsic(IntrinsicParameters intrinsic)

getPlaneToCamera

public georegression.struct.se.Se3_F64 getPlaneToCamera()

setPlaneToCamera

public void setPlaneToCamera(georegression.struct.se.Se3_F64 planeToCamera)