boofcv.alg.sfm.overhead

Class OverheadView<T extends boofcv.struct.image.ImageBase>

java.lang.Object

boofcv.alg.sfm.overhead.OverheadView<T>

public class OverheadView<T extends boofcv.struct.image.ImageBase>
extends java.lang.Object

Data structure for an overhead orthogonal view with known metric properties. Each pixel in the overhead view corresponds to a square of known size and location in the world. The each size of the square regions is specified by cellSize and the origin by (centerX,centerY).

The overhead +x axis corresponds to the world's +z axis and the image's +y axis corresponds to the world's -x axis. The user specify the origin by changing centerX and centerY parameters. It is common to set centerX = 0 , centerY = output.height*cellSize/2.0.

overhead pixels to world coordinates: (x,y) = (x_p,y_p)*cellSize - (centerX,centerY)
world coordinates to overhead pixels: (x_p,y_p) = [(x,y) - (centerX,centerY)]/cellSize

Notes:

• When rendering the overhead image objects to the left will appear on the right and the other way around. This is an artifact that in image's it's standard for +y to point down (clock-wise of +x), while on 2D maps the standard is +y being counter-clock-wise of +x.

Field Summary

Fields

Modifier and Type	Field and Description
double	cellSize Size of each cell in the overhead image in world units.
double	centerX X-coordinate of camera center in the overhead image in world units.
double	centerY Y-coordinate of camera center in the overhead image in world units.
T	image Image containing the overhead view.

Constructor Summary

Constructors

Constructor and Description
OverheadView()
OverheadView(T image, double centerX, double centerY, double cellSize)

Method Summary

Methods

Modifier and Type	Method and Description
double	getCellSize()
double	getCenterX()
double	getCenterY()
T	getImage()
void	setCellSize(double cellSize)
void	setCenterX(double centerX)
void	setCenterY(double centerY)
void	setImage(T image)

Methods inherited from class java.lang.Object

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

Field Detail

image

public T extends boofcv.struct.image.ImageBase image

Image containing the overhead view.

centerX

public double centerX

X-coordinate of camera center in the overhead image in world units.

centerY

public double centerY

Y-coordinate of camera center in the overhead image in world units.

cellSize

public double cellSize

Size of each cell in the overhead image in world units.

Constructor Detail

OverheadView

public OverheadView()

OverheadView

public OverheadView(T image,
            double centerX,
            double centerY,
            double cellSize)

Method Detail

getImage

public T getImage()

setImage

public void setImage(T image)

getCenterX

public double getCenterX()

setCenterX

public void setCenterX(double centerX)

getCenterY

public double getCenterY()

setCenterY

public void setCenterY(double centerY)

getCellSize

public double getCellSize()

setCellSize

public void setCellSize(double cellSize)