Package boofcv.alg.sfm.overhead
Class SelectOverheadParameters
java.lang.Object
boofcv.alg.sfm.overhead.SelectOverheadParameters
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
ConstructorDescriptionSelectOverheadParameters
(double cellSize, double maxCellsPerPixel, double viewHeightFraction) Configure algorithm. -
Method Summary
Modifier and TypeMethodDescription<T extends ImageBase<T>>
OverheadViewcreateOverhead
(ImageType<T> imageType) Creates a new instance of the overhead viewdouble
double
int
int
boolean
process
(CameraPinholeBrown intrinsic, Se3_F64 planeToCamera) Computes the view's characteristics
-
Constructor Details
-
SelectOverheadParameters
public SelectOverheadParameters(double cellSize, double maxCellsPerPixel, double viewHeightFraction) Configure algorithm.- Parameters:
cellSize
- Size of cells in plane in world unitsmaxCellsPerPixel
- 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
Computes the view's characteristics- Parameters:
intrinsic
- Intrinsic camera parametersplaneToCamera
- Extrinsic camera parameters which specify the plane- Returns:
- true if successful or false if it failed
-
createOverhead
Creates a new instance of the overhead view -
getOverheadWidth
public int getOverheadWidth() -
getOverheadHeight
public int getOverheadHeight() -
getCenterX
public double getCenterX() -
getCenterY
public double getCenterY()
-