boofcv.alg.sfm.overhead

Class CameraPlaneProjection

java.lang.Object

boofcv.alg.sfm.overhead.CameraPlaneProjection

public class CameraPlaneProjection
extends java.lang.Object

Computes the location of a point on the plane from an observation in pixels and the reverse. See CreateSyntheticOverheadView for details about reference frames and how the plane is defined.

Constructor Summary

Constructors

Constructor and Description
CameraPlaneProjection()

Method Summary

Methods

Modifier and Type	Method and Description
boolean	normalToPlane(double normX, double normY, georegression.struct.point.Point2D_F64 plane) Given a pixel in normalized coordinates, find the point on the plane.
boolean	pixelToPlane(double pixelX, double pixelY, georegression.struct.point.Point2D_F64 plane) Given a pixel, find the point on the plane.
boolean	planeToNormalized(double pointX, double pointY, georegression.struct.point.Point2D_F64 normalized) Given a point on the plane find the normalized image coordinate
boolean	planeToPixel(double pointX, double pointY, georegression.struct.point.Point2D_F64 pixel) Given a point on the plane find the pixel in the image.
void	setConfiguration(georegression.struct.se.Se3_F64 planeToCamera, boofcv.struct.calib.IntrinsicParameters intrinsic) Configures the camera's intrinsic and extrinsic parameters
void	setIntrinsic(boofcv.struct.calib.IntrinsicParameters intrinsic) Configures the camera's intrinsic parameters
void	setPlaneToCamera(georegression.struct.se.Se3_F64 planeToCamera, boolean computeInverse) Specifies camera's extrinsic parameters.

Methods inherited from class java.lang.Object

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

Constructor Detail

CameraPlaneProjection

public CameraPlaneProjection()

Method Detail

setConfiguration

public void setConfiguration(georegression.struct.se.Se3_F64 planeToCamera,
                    boofcv.struct.calib.IntrinsicParameters intrinsic)

Configures the camera's intrinsic and extrinsic parameters

Parameters:

planeToCamera - Transform from the plane to the camera

intrinsic - Pixel to normalized image coordinates

setIntrinsic

public void setIntrinsic(boofcv.struct.calib.IntrinsicParameters intrinsic)

Configures the camera's intrinsic parameters

Parameters:

intrinsic - Intrinsic camera parameters

setPlaneToCamera

public void setPlaneToCamera(georegression.struct.se.Se3_F64 planeToCamera,
                    boolean computeInverse)

Specifies camera's extrinsic parameters.

Parameters:

planeToCamera - Transform from plane to camera reference frame

computeInverse - Set to true if pixelToPlane is going to be called. performs extra calculation

planeToPixel

public boolean planeToPixel(double pointX,
                   double pointY,
                   georegression.struct.point.Point2D_F64 pixel)

Given a point on the plane find the pixel in the image.

Parameters:

pointX - (input) Point on the plane, x-axis

pointY - (input) Point on the plane, y-axis

pixel - (output) Pixel in the image

Returns:

true if the point is in front of the camera. False if not.

planeToNormalized

public boolean planeToNormalized(double pointX,
                        double pointY,
                        georegression.struct.point.Point2D_F64 normalized)

Given a point on the plane find the normalized image coordinate

Parameters:

pointX - (input) Point on the plane, x-axis

pointY - (input) Point on the plane, y-axis

normalized - (output) Normalized image coordinate of pixel

Returns:

true if the point is in front of the camera. False if not.

pixelToPlane

public boolean pixelToPlane(double pixelX,
                   double pixelY,
                   georegression.struct.point.Point2D_F64 plane)

Given a pixel, find the point on the plane. Be sure computeInverse was set to true in setPlaneToCamera(georegression.struct.se.Se3_F64, boolean)

Parameters:

pixelX - (input) Pixel in the image, x-axis

pixelY - (input) Pixel in the image, y-axis

plane - (output) Point on the plane.

Returns:

true if a point on the plane was found in front of the camera

normalToPlane

public boolean normalToPlane(double normX,
                    double normY,
                    georegression.struct.point.Point2D_F64 plane)

Given a pixel in normalized coordinates, find the point on the plane. Make sure invert was set to true in setPlaneToCamera(georegression.struct.se.Se3_F64, boolean)

Parameters:

normX - (input) Image pixel in normalized coordinates, x-axis

normY - (input) Image pixel in normalized coordinates, y-axis

plane - (output) Point on the plane.

Returns:

true if a point on the plane was found in front of the camera