Example Overhead View - Revision history

Peter at 22:55, 17 January 2022

2022-01-17T22:55:29Z

← Older revision		Revision as of 22:55, 17 January 2022
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

	Concepts:		Concepts:
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	public class ExampleOverheadView {		public class ExampleOverheadView {
	public static void main( String[] args ) {		public static void main( String[] args ) {
	BufferedImage input = UtilImageIO.~~loadImage~~(UtilIO.pathExample("road/left01.png"));		BufferedImage input = UtilImageIO.loadImageNotNull(UtilIO.pathExample("road/left01.png"));

	Planar<GrayU8> imageRGB = ConvertBufferedImage.convertFromPlanar(input, null, true, GrayU8.class);		Planar<GrayU8> imageRGB = ConvertBufferedImage.convertFromPlanar(input, null, true, GrayU8.class);

Peter at 18:16, 12 July 2021

2021-07-12T18:16:11Z

← Older revision		Revision as of 18:16, 12 July 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

	Concepts:		Concepts:
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	<syntaxhighlight lang="java">		<syntaxhighlight lang="java">
	/**		/**
	* Creates a synthetic overhead view from an image using the known ground plane. This is commonly used for navigation		* Creates a synthetic overhead view from an image using the known ground plane. This is commonly used for navigation
	* in man-made environments, such on roads or through hallways. Objects which are not actually on the ground plane		* in man-made environments, such on roads or through hallways. Objects which are not actually on the ground plane
	* will be heavily distorted in the overhead view.		* will be heavily distorted in the overhead view.
	*		*
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	generateOverhead.process(imageRGB, overheadRGB);		generateOverhead.process(imageRGB, overheadRGB);

	// note that the left/right values are swapped in the overhead image. This is an artifact of the plane's		// note that the left/right values are swapped in the overhead image. This is an artifact of the plane's
	// 2D coordinate system having +y pointing up, while images have +y pointing down.		// 2D coordinate system having +y pointing up, while images have +y pointing down.
	BufferedImage output = ConvertBufferedImage.convertTo(overheadRGB, null, true);		BufferedImage output = ConvertBufferedImage.convertTo(overheadRGB, null, true);

Peter at 02:09, 22 December 2020

2020-12-22T02:09:14Z

← Older revision		Revision as of 02:09, 22 December 2020
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

	Concepts:		Concepts:
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	*/		*/
	public class ExampleOverheadView {		public class ExampleOverheadView {
	public static void main( String ~~args~~[] ) {		public static void main( String[] args ) {
	BufferedImage input = UtilImageIO.loadImage(UtilIO.pathExample("road/left01.png"));		BufferedImage input = UtilImageIO.loadImage(UtilIO.pathExample("road/left01.png"));

	Planar<GrayU8> imageRGB = ConvertBufferedImage.convertFromPlanar(input, null,true, GrayU8.class);		Planar<GrayU8> imageRGB = ConvertBufferedImage.convertFromPlanar(input, null, true, GrayU8.class);

	StereoParameters stereoParam = CalibrationIO.load(UtilIO.pathExample("road/stereo01.yaml"));		StereoParameters stereoParam = CalibrationIO.load(UtilIO.pathExample("road/stereo01.yaml"));
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	CreateSyntheticOverheadView<Planar<GrayU8>> generateOverhead =		CreateSyntheticOverheadView<Planar<GrayU8>> generateOverhead =
	new CreateSyntheticOverheadViewPL<>(InterpolationType.BILINEAR,3,GrayU8.class);		new CreateSyntheticOverheadViewPL<>(InterpolationType.BILINEAR, 3, GrayU8.class);

	// size of cells in the overhead image in world units		// size of cells in the overhead image in world units
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	// You can use this to automatically select reasonable values for the overhead image		// You can use this to automatically select reasonable values for the overhead image
	SelectOverheadParameters selectMapSize = new SelectOverheadParameters(cellSize,20,0.5);		SelectOverheadParameters selectMapSize = new SelectOverheadParameters(cellSize, 20, 0.5);
	selectMapSize.process(stereoParam.left,groundToLeft);		selectMapSize.process(stereoParam.left, groundToLeft);

	int overheadWidth = selectMapSize.getOverheadWidth();		int overheadWidth = selectMapSize.getOverheadWidth();
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	Planar<GrayU8> overheadRGB =		Planar<GrayU8> overheadRGB =
	new Planar<>(GrayU8.class,overheadWidth,overheadHeight,3);		new Planar<>(GrayU8.class, overheadWidth, overheadHeight, 3);
	generateOverhead.configure(stereoParam.left,groundToLeft,		generateOverhead.configure(stereoParam.left, groundToLeft,
	selectMapSize.getCenterX(), selectMapSize.getCenterY(), cellSize,overheadRGB.width,overheadRGB.height);		selectMapSize.getCenterX(), selectMapSize.getCenterY(), cellSize, overheadRGB.width, overheadRGB.height);

	generateOverhead.process(imageRGB, overheadRGB);		generateOverhead.process(imageRGB, overheadRGB);
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	// note that the left/right values are swapped in the overhead image. This is an artifact of the plane's		// note that the left/right values are swapped in the overhead image. This is an artifact of the plane's
	// 2D coordinate system having +y pointing up, while images have +y pointing down.		// 2D coordinate system having +y pointing up, while images have +y pointing down.
	BufferedImage output = ConvertBufferedImage.convertTo(overheadRGB,null,true);		BufferedImage output = ConvertBufferedImage.convertTo(overheadRGB, null, true);

	ShowImages.showWindow(input,"Input Image",true);		ShowImages.showWindow(input, "Input Image", true);
	ShowImages.showWindow(output,"Overhead Image",true);		ShowImages.showWindow(output, "Overhead Image", true);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 15:50, 17 August 2017

2017-08-17T15:50:32Z

← Older revision		Revision as of 15:50, 17 August 2017
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

	Concepts:		Concepts:
	* Perspective Distortion		* Perspective Distortion
	* Ground plane		* Ground plane

	~~Relevant Applets:~~

	Related Examples:		Related Examples:
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	BufferedImage input = UtilImageIO.loadImage(UtilIO.pathExample("road/left01.png"));		BufferedImage input = UtilImageIO.loadImage(UtilIO.pathExample("road/left01.png"));

	Planar<GrayU8> imageRGB = ConvertBufferedImage.~~convertFromMulti~~(input, null,true, GrayU8.class);		Planar<GrayU8> imageRGB = ConvertBufferedImage.convertFromPlanar(input, null,true, GrayU8.class);

	StereoParameters stereoParam = ~~UtilIO~~.~~loadXML~~(UtilIO.pathExample("road/stereo01.~~xml~~"));		StereoParameters stereoParam = CalibrationIO.load(UtilIO.pathExample("road/stereo01.yaml"));
	Se3_F64 groundToLeft = ~~UtilIO~~.~~loadXML~~(UtilIO.pathExample("road/ground_to_left_01.~~xml~~"));		Se3_F64 groundToLeft = CalibrationIO.load(UtilIO.pathExample("road/ground_to_left_01.yaml"));

	CreateSyntheticOverheadView<Planar<GrayU8>> generateOverhead =		CreateSyntheticOverheadView<Planar<GrayU8>> generateOverhead =
	new CreateSyntheticOverheadViewPL<>(~~InterpolateType~~.BILINEAR,3,GrayU8.class);		new CreateSyntheticOverheadViewPL<>(InterpolationType.BILINEAR,3,GrayU8.class);

	// size of cells in the overhead image in world units		// size of cells in the overhead image in world units

Peter at 23:33, 1 December 2016

2016-12-01T23:33:22Z

← Older revision		Revision as of 23:33, 1 December 2016
Line 9:		Line 9:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

	Concepts:		Concepts:
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	CreateSyntheticOverheadView<Planar<GrayU8>> generateOverhead =		CreateSyntheticOverheadView<Planar<GrayU8>> generateOverhead =
	new CreateSyntheticOverheadViewPL<~~GrayU8~~>(~~TypeInterpolate~~.BILINEAR,3,GrayU8.class);		new CreateSyntheticOverheadViewPL<>(InterpolateType.BILINEAR,3,GrayU8.class);

	// size of cells in the overhead image in world units		// size of cells in the overhead image in world units
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	Planar<GrayU8> overheadRGB =		Planar<GrayU8> overheadRGB =
	new Planar<~~GrayU8~~>(GrayU8.class,overheadWidth,overheadHeight,3);		new Planar<>(GrayU8.class,overheadWidth,overheadHeight,3);
	generateOverhead.configure(stereoParam.left,groundToLeft,		generateOverhead.configure(stereoParam.left,groundToLeft,
	selectMapSize.getCenterX(), selectMapSize.getCenterY(), cellSize,overheadRGB.width,overheadRGB.height);		selectMapSize.getCenterX(), selectMapSize.getCenterY(), cellSize,overheadRGB.width,overheadRGB.height);

Peter at 06:03, 28 March 2016

2016-03-28T06:03:52Z

← Older revision		Revision as of 06:03, 28 March 2016
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

	Concepts:		Concepts:
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	BufferedImage input = UtilImageIO.loadImage(UtilIO.pathExample("road/left01.png"));		BufferedImage input = UtilImageIO.loadImage(UtilIO.pathExample("road/left01.png"));

	~~MultiSpectral~~<~~ImageUInt8~~> imageRGB = ConvertBufferedImage.convertFromMulti(input, null,true, ~~ImageUInt8~~.class);		Planar<GrayU8> imageRGB = ConvertBufferedImage.convertFromMulti(input, null,true, GrayU8.class);

	StereoParameters stereoParam = UtilIO.loadXML(UtilIO.pathExample("road/stereo01.xml"));		StereoParameters stereoParam = UtilIO.loadXML(UtilIO.pathExample("road/stereo01.xml"));
	Se3_F64 groundToLeft = UtilIO.loadXML(UtilIO.pathExample("road/ground_to_left_01.xml"));		Se3_F64 groundToLeft = UtilIO.loadXML(UtilIO.pathExample("road/ground_to_left_01.xml"));

	CreateSyntheticOverheadView<~~MultiSpectral~~<~~ImageUInt8~~>> generateOverhead =		CreateSyntheticOverheadView<Planar<GrayU8>> generateOverhead =
	new ~~CreateSyntheticOverheadViewMS~~<~~ImageUInt8~~>(TypeInterpolate.BILINEAR,3,~~ImageUInt8~~.class);		new CreateSyntheticOverheadViewPL<GrayU8>(TypeInterpolate.BILINEAR,3,GrayU8.class);

	// size of cells in the overhead image in world units		// size of cells in the overhead image in world units
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	int overheadHeight = selectMapSize.getOverheadHeight();		int overheadHeight = selectMapSize.getOverheadHeight();

	~~MultiSpectral~~<~~ImageUInt8~~> overheadRGB =		Planar<GrayU8> overheadRGB =
	new ~~MultiSpectral~~<~~ImageUInt8~~>(~~ImageUInt8~~.class,overheadWidth,overheadHeight,3);		new Planar<GrayU8>(GrayU8.class,overheadWidth,overheadHeight,3);
	generateOverhead.configure(stereoParam.left,groundToLeft,		generateOverhead.configure(stereoParam.left,groundToLeft,
	selectMapSize.getCenterX(), selectMapSize.getCenterY(), cellSize,overheadRGB.width,overheadRGB.height);		selectMapSize.getCenterX(), selectMapSize.getCenterY(), cellSize,overheadRGB.width,overheadRGB.height);

Peter at 17:40, 9 November 2015

2015-11-09T17:40:59Z

← Older revision		Revision as of 17:40, 9 November 2015
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

	Concepts:		Concepts:
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	public class ExampleOverheadView {		public class ExampleOverheadView {
	public static void main( String args[] ) {		public static void main( String args[] ) {
	BufferedImage input = UtilImageIO.loadImage("~~../data/applet/~~road/left01.png");		BufferedImage input = UtilImageIO.loadImage(UtilIO.pathExample("road/left01.png"));

	MultiSpectral<ImageUInt8> imageRGB = ConvertBufferedImage.convertFromMulti(input, null,true, ImageUInt8.class);		MultiSpectral<ImageUInt8> imageRGB = ConvertBufferedImage.convertFromMulti(input, null,true, ImageUInt8.class);

	StereoParameters stereoParam = UtilIO.loadXML("~~../data/applet/~~road/stereo01.xml");		StereoParameters stereoParam = UtilIO.loadXML(UtilIO.pathExample("road/stereo01.xml"));
	Se3_F64 groundToLeft = UtilIO.loadXML("~~../data/applet/~~road/ground_to_left_01.xml");		Se3_F64 groundToLeft = UtilIO.loadXML(UtilIO.pathExample("road/ground_to_left_01.xml"));

	CreateSyntheticOverheadView<MultiSpectral<ImageUInt8>> generateOverhead =		CreateSyntheticOverheadView<MultiSpectral<ImageUInt8>> generateOverhead =

Peter at 18:59, 19 September 2015

2015-09-19T18:59:10Z

← Older revision		Revision as of 18:59, 19 September 2015
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.17/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.19/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

	Concepts:		Concepts:
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	BufferedImage output = ConvertBufferedImage.convertTo(overheadRGB,null,true);		BufferedImage output = ConvertBufferedImage.convertTo(overheadRGB,null,true);

	ShowImages.showWindow(input,"Input Image");		ShowImages.showWindow(input,"Input Image",true);
	ShowImages.showWindow(output,"Overhead Image");		ShowImages.showWindow(output,"Overhead Image",true);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 18:24, 19 June 2014

2014-06-19T18:24:55Z

← Older revision		Revision as of 18:24, 19 June 2014
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.16/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.17/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

	Concepts:		Concepts:
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	MultiSpectral<ImageUInt8> imageRGB = ConvertBufferedImage.convertFromMulti(input, null,true, ImageUInt8.class);		MultiSpectral<ImageUInt8> imageRGB = ConvertBufferedImage.convertFromMulti(input, null,true, ImageUInt8.class);

	StereoParameters stereoParam = ~~BoofMiscOps~~.loadXML("../data/applet/road/stereo01.xml");		StereoParameters stereoParam = UtilIO.loadXML("../data/applet/road/stereo01.xml");
	Se3_F64 groundToLeft = ~~BoofMiscOps~~.loadXML("../data/applet/road/ground_to_left_01.xml");		Se3_F64 groundToLeft = UtilIO.loadXML("../data/applet/road/ground_to_left_01.xml");

	CreateSyntheticOverheadView<MultiSpectral<ImageUInt8>> generateOverhead =		CreateSyntheticOverheadView<MultiSpectral<ImageUInt8>> generateOverhead =

Peter: Created page with " file:Example_overhead_input.jpg | Input image file:Example_overhead_output.jpg‎ | Synthetic overhead view created from input imag..."

2013-12-25T23:48:56Z

Created page with "<center> <gallery widths=350 heights=300px> file:Example_overhead_input.jpg | Input image file:Example_overhead_output.jpg‎ | Synthetic overhead view created from input imag..."

New page

<center>
<gallery widths=350 heights=300px>
file:Example_overhead_input.jpg | Input image
file:Example_overhead_output.jpg‎ | Synthetic overhead view created from input image and known ground plane
</gallery>
</center>

For some tasks (e.g. autonomous driving) detecting features and understanding the scene is difficult due to perspective distortion. An overhead orthogonal view of the scene can be created if the geometry between the camera and the ground plane is known. Each pixel in the overhead image will have a known size and its location relative to the camera is also known.

Example Code:
* [https://github.com/lessthanoptimal/BoofCV/blob/v0.16/examples/src/boofcv/examples/geometry/ExampleOverheadView.java ExampleOverheadView.java]

Concepts:
* Perspective Distortion
* Ground plane

Relevant Applets:

Related Examples:

= Example Code =

<syntaxhighlight lang="java">
/**
* Creates a synthetic overhead view from an image using the known ground plane. This is commonly used for navigation
* in man-made environments, such on roads or through hallways. Objects which are not actually on the ground plane
* will be heavily distorted in the overhead view.
*
* @author Peter Abeles
*/
public class ExampleOverheadView {
public static void main( String args[] ) {
BufferedImage input = UtilImageIO.loadImage("../data/applet/road/left01.png");

MultiSpectral<ImageUInt8> imageRGB = ConvertBufferedImage.convertFromMulti(input, null,true, ImageUInt8.class);

StereoParameters stereoParam = BoofMiscOps.loadXML("../data/applet/road/stereo01.xml");
Se3_F64 groundToLeft = BoofMiscOps.loadXML("../data/applet/road/ground_to_left_01.xml");

CreateSyntheticOverheadView<MultiSpectral<ImageUInt8>> generateOverhead =
new CreateSyntheticOverheadViewMS<ImageUInt8>(TypeInterpolate.BILINEAR,3,ImageUInt8.class);

// size of cells in the overhead image in world units
double cellSize = 0.05;

// You can use this to automatically select reasonable values for the overhead image
SelectOverheadParameters selectMapSize = new SelectOverheadParameters(cellSize,20,0.5);
selectMapSize.process(stereoParam.left,groundToLeft);

int overheadWidth = selectMapSize.getOverheadWidth();
int overheadHeight = selectMapSize.getOverheadHeight();

MultiSpectral<ImageUInt8> overheadRGB =
new MultiSpectral<ImageUInt8>(ImageUInt8.class,overheadWidth,overheadHeight,3);
generateOverhead.configure(stereoParam.left,groundToLeft,
selectMapSize.getCenterX(), selectMapSize.getCenterY(), cellSize,overheadRGB.width,overheadRGB.height);

generateOverhead.process(imageRGB, overheadRGB);

// note that the left/right values are swapped in the overhead image. This is an artifact of the plane's
// 2D coordinate system having +y pointing up, while images have +y pointing down.
BufferedImage output = ConvertBufferedImage.convertTo(overheadRGB,null,true);

ShowImages.showWindow(input,"Input Image");
ShowImages.showWindow(output,"Overhead Image");
}
}
</syntaxhighlight>