Package boofcv.simulation

Class SimulatePlanarWorld

java.lang.Object

boofcv.simulation.SimulatePlanarWorld

public class SimulatePlanarWorld
extends Object

Simulates a scene composed of planar objects. The camera is distorted using the provided camera model.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	SimulatePlanarWorld.SurfaceRect

Field Summary

Fields

Modifier and Type	Field	Description
int	renderSampling	Increase this value to increase the simulator's accuracy.

Constructor Summary

Constructors

Constructor	Description
SimulatePlanarWorld()

Method Summary

Modifier and Type	Method	Description
void	addSurface(Se3_F64 rectToWorld, double widthWorld, GrayF32 texture)	Adds a surface to the simulation.
void	computePixel(int which, double x, double y, Point2D_F64 output)	Project a point which lies on the 2D planar polygon's surface onto the rendered image The rectangle's coordinate system's origin will be at its center> +x right, +y up
void	enableHighAccuracy()	More accurate rendering but will run slower
SimulatePlanarWorld.SurfaceRect	getImageRect(int which)
GrayF32	getOutput()
GrayF32	render()	Render the scene and returns the rendered image.
void	resetScene()
void	setBackground(float background)
void	setCamera(LensDistortionNarrowFOV model, int width, int height)
void	setCamera(CameraPinhole model)
void	setCamera(CameraPinholeBrown model)
void	setCamera(CameraUniversalOmni model)
void	setWorldToCamera(Se3_F64 worldToCamera)

Methods inherited from class java.lang.Object

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

Field Details

renderSampling

public int renderSampling

Increase this value to increase the simulator's accuracy. More points are sampled per pixel.

Constructor Details

SimulatePlanarWorld

public SimulatePlanarWorld()

Method Details

enableHighAccuracy

public void enableHighAccuracy()

More accurate rendering but will run slower

setCamera

public void setCamera(CameraUniversalOmni model)

setCamera

public void setCamera(CameraPinhole model)

setCamera

public void setCamera(CameraPinholeBrown model)

setCamera

public void setCamera(LensDistortionNarrowFOV model,
 int width,
 int height)

setWorldToCamera

public void setWorldToCamera(Se3_F64 worldToCamera)

addSurface

public void addSurface(Se3_F64 rectToWorld,
 double widthWorld,
 GrayF32 texture)

Adds a surface to the simulation. The center of the surface's coordinate system will be the image center. Width is the length along the image's width. the world length along the image height is width*texture.height/texture.width.

NOTE: The image is flipped horizontally internally so that when it is rendered it appears the same way it is displayed on the screen as usual.

Parameters:

rectToWorld - Transform from surface to world coordinate systems

widthWorld - Size of surface as measured along its width

texture - Image describing the surface's appearance and shape.

resetScene

public void resetScene()

render

public GrayF32 render()

Render the scene and returns the rendered image.

Returns:

rendered image

See Also:

• getOutput()

getImageRect

public SimulatePlanarWorld.SurfaceRect getImageRect(int which)

setBackground

public void setBackground(float background)

computePixel

public void computePixel(int which,
 double x,
 double y,
 Point2D_F64 output)

Project a point which lies on the 2D planar polygon's surface onto the rendered image The rectangle's coordinate system's origin will be at its center> +x right, +y up

getOutput

public GrayF32 getOutput()