code: public void configureCamera(CameraPinholeBrown intrinsic ,
  								Se3_F64 planeToCamera ) {
  		this.planeToCamera = planeToCamera;
  
  		if( !selectOverhead.process(intrinsic,planeToCamera) )
  			throw new IllegalArgumentException("Can't find a reasonable overhead map.  Can the camera view the plane?");
  
  		overhead.centerX = selectOverhead.getCenterX();
  		overhead.centerY = selectOverhead.getCenterY();
  
  		createOverhead.configure(intrinsic,planeToCamera,overhead.centerX,overhead.centerY,overhead.cellSize,
  				selectOverhead.getOverheadWidth(),selectOverhead.getOverheadHeight());
  
  		// used to counter act offset in overhead image
  		origToMap.set(overhead.centerX,overhead.centerY,0);
  		mapToOrigin.set(-overhead.centerX,-overhead.centerY,0);
  
  		// fill it so there aren't any artifacts in the left over
  		overhead.image.reshape(selectOverhead.getOverheadWidth(), selectOverhead.getOverheadHeight());
  		GImageMiscOps.fill(overhead.image,0);
  	}
docs: Camera the camera's intrinsic and extrinsic parameters.  Can be called at any time.
  @param intrinsic Intrinsic camera parameters
  @param planeToCamera Transform from the plane to camera.