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ExampleOverheadView.java
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ExampleOverheadView.java
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/*
* Copyright (c) 2011-2013, Peter Abeles. All Rights Reserved.
*
* This file is part of BoofCV (http://boofcv.org).
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
package boofcv.examples.geometry;
import boofcv.alg.interpolate.TypeInterpolate;
import boofcv.alg.sfm.overhead.CreateSyntheticOverheadView;
import boofcv.alg.sfm.overhead.CreateSyntheticOverheadViewMS;
import boofcv.alg.sfm.overhead.SelectOverheadParameters;
import boofcv.core.image.ConvertBufferedImage;
import boofcv.gui.image.ShowImages;
import boofcv.io.image.UtilImageIO;
import boofcv.misc.BoofMiscOps;
import boofcv.struct.calib.StereoParameters;
import boofcv.struct.image.ImageUInt8;
import boofcv.struct.image.MultiSpectral;
import georegression.struct.se.Se3_F64;
import java.awt.image.BufferedImage;
/**
* 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");
}
}