boofcv.alg.distort.spherical

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

java.lang.Object

boofcv.alg.distort.spherical.MultiCameraToEquirectangular<T>

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

Fuses information from multiple camera to create a single equirectangular image. Each image is rendered independently and added to the output image, but weighted by the mask. The mask describes the region of pixels in the equirectangular image which it represents.

Constructor Summary

Constructors

Constructor and Description
MultiCameraToEquirectangular(boofcv.alg.distort.ImageDistort<T,T> distort, int equiWidth, int equiHeight, boofcv.struct.image.ImageType<T> imageType) Configuration constructor

Method Summary

Modifier and Type	Method and Description
void	addCamera(georegression.struct.se.Se3_F64 cameraToCommon, LensDistortionWideFOV factory, boofcv.struct.image.GrayU8 camMask) Adds a camera and attempts to compute the mask from the provided distortion model.
void	addCamera(georegression.struct.se.Se3_F64 cameraToCommon, LensDistortionWideFOV factory, int width, int height) Adds a camera and attempts to compute the mask from the provided distortion model.
boofcv.struct.image.GrayF32	getMask(int which) Returns the mask for a specific camera
float	getMaskToleranceAngle()
T	getRenderedImage()
void	render(java.util.List<T> cameraImages) Provides recent images from all the cameras (should be time and lighting synchronized) and renders them into an equirectangular image.
void	setMaskToleranceAngle(float maskToleranceAngle) Specify the tolerance that the circle normal angle must be invertible in radians

Methods inherited from class java.lang.Object

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

Constructor Detail

MultiCameraToEquirectangular

public MultiCameraToEquirectangular(boofcv.alg.distort.ImageDistort<T,T> distort,
                                    int equiWidth,
                                    int equiHeight,
                                    boofcv.struct.image.ImageType<T> imageType)

Configuration constructor

Parameters:

distort - Used to apply image distortion from different input images

equiWidth - Width of output equirectangular image

equiHeight - Height of output equirectangular image

imageType - Type of image it processes and outputs. Must be floating point. Hmm why isn't this fixed?

Method Detail

addCamera

public void addCamera(georegression.struct.se.Se3_F64 cameraToCommon,
                      LensDistortionWideFOV factory,
                      int width,
                      int height)

Adds a camera and attempts to compute the mask from the provided distortion model. if a pixel is rendered outside the bounds in the input image then it is masked out. If the forwards/backwards transform is too different then it is masked out.

Parameters:

cameraToCommon - Rigid body transform from this camera to the common frame the equirectangular image is in

factory - Distortion model

width - Input image width

height - Input image height

addCamera

public void addCamera(georegression.struct.se.Se3_F64 cameraToCommon,
                      LensDistortionWideFOV factory,
                      boofcv.struct.image.GrayU8 camMask)

Adds a camera and attempts to compute the mask from the provided distortion model. if a pixel is rendered outside the bounds in the input image then it is masked out. If the forwards/backwards transform is too different then it is masked out.

Parameters:

cameraToCommon - Rigid body transform from this camera to the common frame the equirectangular image is in

factory - Distortion model

camMask - Binary mask with invalid pixels marked as not zero. Pixels are in camera image frame.

render

public void render(java.util.List<T> cameraImages)

Provides recent images from all the cameras (should be time and lighting synchronized) and renders them into an equirectangular image. The images must be in the same order that the cameras were added.

Parameters:

cameraImages - List of camera images

getRenderedImage

public T getRenderedImage()

getMask

public boofcv.struct.image.GrayF32 getMask(int which)

Returns the mask for a specific camera

Parameters:

which - index of the camera

Returns:

Mask image. pixel values from 0 to 1

getMaskToleranceAngle

public float getMaskToleranceAngle()

setMaskToleranceAngle

public void setMaskToleranceAngle(float maskToleranceAngle)

Specify the tolerance that the circle normal angle must be invertible in radians

Parameters:

maskToleranceAngle - tolerance in radians