class: SimulatePlanarWorld

[8:7] extends: object

SimulatePlanarWorld wraps boofcv.simulation.SimulatePlanarWorld. Renders a synthetic GrayF32 image of one or more planar surfaces placed in a 3D world, viewed by a configured camera.

Members

• obj

Methods

• SimulatePlanarWorld (Obj = null)

  Creates or wraps a planar world simulator.

  • @p Obj is an existing simulator Java object or null to create a new one.

• enableHighAccuracy ()

  Switches the renderer to higher accuracy mode.

• setCamera (object Camera)

  Sets the camera intrinsics.

  • @p Camera is a CameraPinhole, CameraPinholeBrown, or CameraUniversalOmni wrapper.

• setWorldToCamera (object Transform)

  Sets the world-to-camera rigid body transform.

  • @p Transform is a Se3_F64 wrapper or AussomJavaObject.

• addSurface (object SurfaceToWorld, double WidthMeters, object Texture)

  Adds a textured planar surface to the scene.

  • @p SurfaceToWorld is a Se3_F64 wrapper that places the surface in the world.
  • @p WidthMeters is the physical width of the surface in meters.
  • @p Texture is a GrayF32 wrapper or AussomJavaObject holding the surface texture.

• resetScene ()

  Removes every surface added with addSurface.

• render ()

  Renders the scene from the current camera pose.

  • @r The rendered GrayF32 Java object.

• setBackground (double Intensity)

  Sets the background fill color used where no surface is hit.

  • @p Intensity is the background pixel intensity (single channel float).

• computePixel (int SurfaceIndex, double X, double Y, object OutPixel)

  Computes the pixel coordinate of a point on a surface.

  • @p SurfaceIndex is the index of the surface added with addSurface.
  • @p X is the surface-local x coordinate in meters.
  • @p Y is the surface-local y coordinate in meters.
  • @p OutPixel is a Point2D_F64 Java object that receives the result.

• getOutput ()

  Gets the most recently rendered image.

  • @r A GrayF32 Java object.

• getDepthMap ()

  Gets the per-pixel depth map for the most recent render.

  • @r A GrayF32 Java object holding distance from the camera.

• getRenderSampling ()

  Gets the public renderSampling field.

  • @r The supersampling factor used by the renderer.

• setRenderSampling (int Sampling)

  Sets the public renderSampling field.

  • @p Sampling is the supersampling factor used by the renderer.

class: PointTrackerPerfectCloud

[106:7] extends: object

PointTrackerPerfectCloud wraps boofcv.simulation.PointTrackerPerfectCloud. A test-fixture point tracker that projects a fixed 3D point cloud into the current camera view and treats every visible point as a tracked feature.

Members

• obj

Methods

• PointTrackerPerfectCloud (Obj = null)

  Creates or wraps a perfect-cloud point tracker.

  • @p Obj is an existing tracker Java object or null to create a new one.

• setCamera (object Camera)

  Sets the camera intrinsics.

  • @p Camera is a CameraPinhole or CameraPinholeBrown wrapper.

• process (object Image)

  Processes one frame.

  • @p Image is the input image. Only the dimensions are used; pixel data is ignored.

• reset ()

  Resets the tracker.

• dropAllTracks ()

  Drops every active track.

• spawnTracks ()

  Spawns new tracks from currently visible cloud points.

• dropTrack (object Track)

  Drops one track.

  • @p Track is a PointTrack Java object.
  • @r True if the track was dropped.

• getFrameID ()

  Gets the current frame id.

  • @r The frame id.

• getTotalActive ()

  Gets the active track count.

  • @r The active count.

• getTotalInactive ()

  Gets the inactive track count.

  • @r The inactive count.

• getMaxSpawn ()

  Gets the maximum number of tracks the tracker will spawn.

  • @r The max spawn count.

• getAllTracks (Storage = null)

  Gets all tracks.

  • @p Storage is a Java list or null.
  • @r A Java list of PointTrack objects.

• getActiveTracks (Storage = null)

  Gets active tracks.

  • @p Storage is a Java list or null.
  • @r A Java list of PointTrack objects.

• getInactiveTracks (Storage = null)

  Gets inactive tracks.

  • @p Storage is a Java list or null.
  • @r A Java list of PointTrack objects.

• getDroppedTracks (Storage = null)

  Gets dropped tracks.

  • @p Storage is a Java list or null.
  • @r A Java list of PointTrack objects.

• getNewTracks (Storage = null)

  Gets new tracks spawned in the most recent frame.

  • @p Storage is a Java list or null.
  • @r A Java list of PointTrack objects.

• getImageType ()

  Gets the input image type.

  • @r The BoofCV ImageType.

• get (string Name)

  Gets a public field by name.

  • @p Name is cloud, world_to_view, norm_to_pixel, width, height, or frameID.
  • @r The field value.

• set (string Name, Value)

  Sets a public field by name.

  • @p Name is cloud, world_to_view, norm_to_pixel, width, height, or frameID.
  • @p Value is the new field value.