boofcv.alg.geo

Class WorldToCameraToPixel

java.lang.Object

boofcv.alg.geo.WorldToCameraToPixel

public class WorldToCameraToPixel
extends java.lang.Object

Convenience class which will take a point in world coordinates, translate it to camera reference frame, then project onto the image plane and compute its pixels. Supports lens distortion

Constructor Summary

Constructors

Constructor and Description
WorldToCameraToPixel()

Method Summary

Modifier and Type	Method and Description
void	configure(IntrinsicParameters intrinsic, Se3_F64 worldToCamera) Specifies intrinsic camera parameters and the transform from world to camera.
Point2D_F64	transform(Point3D_F64 worldPt) Computes location of 3D point in world as observed in the camera.
boolean	transform(Point3D_F64 worldPt, Point2D_F64 pixelPt) Computes the observed location of the specified point in world coordinates in the camera pixel.

Methods inherited from class java.lang.Object

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

Constructor Detail

WorldToCameraToPixel

public WorldToCameraToPixel()

Method Detail

configure

public void configure(IntrinsicParameters intrinsic,
                      Se3_F64 worldToCamera)

Specifies intrinsic camera parameters and the transform from world to camera.

Parameters:

intrinsic - camera parameters

worldToCamera - transform from world to camera

transform

public boolean transform(Point3D_F64 worldPt,
                         Point2D_F64 pixelPt)

Computes the observed location of the specified point in world coordinates in the camera pixel. If the object can't be viewed because it is behind the camera then false is returned.

Parameters:

worldPt - Location of point in world frame

pixelPt - Pixel observation of point.

Returns:

True if visible (+z) or false if not visible (-z)

transform

public Point2D_F64 transform(Point3D_F64 worldPt)

Computes location of 3D point in world as observed in the camera. Point is returned if visible or null if not visible.

Parameters:

worldPt - Location of point on world reference frame

Returns:

Pixel coordinate of point or null if not visible