Class SelectOverheadParameters


public class SelectOverheadParameters
extends 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 Details

    • SelectOverheadParameters

      public SelectOverheadParameters​(double cellSize, double maxCellsPerPixel, double viewHeightFraction)
      Configure algorithm.
      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 Details

    • process

      public boolean process​(CameraPinholeBrown intrinsic, Se3_F64 planeToCamera)
      Computes the view's characteristics
      intrinsic - Intrinsic camera parameters
      planeToCamera - Extrinsic camera parameters which specify the plane
      true if successful or false if it failed
    • createOverhead

      public <T extends ImageBase<T>> OverheadView createOverhead​(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()