Package boofcv.alg.geo

Class WorldToCameraToPixel

java.lang.Object

boofcv.alg.geo.WorldToCameraToPixel

public class WorldToCameraToPixel
extends Object

Convenience class which will take a point in world coordinates, translate it to camera reference frame, then project onto the image plane and compute its pixels. Supports lens distortion

Constructor Summary

Constructors

Constructor	Description
WorldToCameraToPixel()

Method Summary

Modifier and Type	Method	Description
void	configure(LensDistortionNarrowFOV distortion, Se3_F64 worldToCamera)	Specifies intrinsic camera parameters and the transform from world to camera.
void	configure(CameraPinholeBrown intrinsic, Se3_F64 worldToCamera)	Specifies intrinsic camera parameters and the transform from world to camera.
void	configure(CameraPinhole intrinsic, Se3_F64 worldToCamera)
@Nullable Point2D_F64	transform(Point3D_F64 worldPt)	Computes location of 3D point in world as observed in the camera.
boolean	transform(Point3D_F64 worldPt, Point2D_F64 pixelPt)	Computes the observed location of the specified point in world coordinates in the camera pixel.
boolean	transform(Point3D_F64 worldPt, Point2D_F64 pixelPt, Point2D_F64 normPt)
boolean	transform(Point4D_F64 worldPt, Point2D_F64 pixelPt)	Computes the observed location of the specified point in world coordinates in the camera pixel.

Methods inherited from class java.lang.Object

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

Constructor Details

WorldToCameraToPixel

public WorldToCameraToPixel()

Method Details

configure

public void configure(CameraPinholeBrown intrinsic,
 Se3_F64 worldToCamera)

Specifies intrinsic camera parameters and the transform from world to camera.

Parameters:

intrinsic - camera parameters

worldToCamera - transform from world to camera

configure

public void configure(CameraPinhole intrinsic,
 Se3_F64 worldToCamera)

configure

public void configure(LensDistortionNarrowFOV distortion,
 Se3_F64 worldToCamera)

Specifies intrinsic camera parameters and the transform from world to camera.

Parameters:

distortion - camera parameters

worldToCamera - transform from world to camera

transform

public boolean transform(Point3D_F64 worldPt,
 Point2D_F64 pixelPt)

Computes the observed location of the specified point in world coordinates in the camera pixel. If the object can't be viewed because it is behind the camera then false is returned.

Parameters:

worldPt - Location of point in world frame

pixelPt - Pixel observation of point.

Returns:

True if visible (+z) or false if not visible (-z)

transform

public boolean transform(Point3D_F64 worldPt,
 Point2D_F64 pixelPt,
 Point2D_F64 normPt)

transform

public boolean transform(Point4D_F64 worldPt,
 Point2D_F64 pixelPt)

Computes the observed location of the specified point in world coordinates in the camera pixel. If the object can't be viewed because it is behind the camera then false is returned.

Parameters:

worldPt - Location of point in world frame. Homogenous coordinates.

pixelPt - Pixel observation of point.

Returns:

True if visible (+z) or false if not visible (-z)

transform

@Nullable
public @Nullable Point2D_F64 transform(Point3D_F64 worldPt)

Computes location of 3D point in world as observed in the camera. Point is returned if visible or null if not visible.

Parameters:

worldPt - Location of point on world reference frame

Returns:

Pixel coordinate of point or null if not visible