Package boofcv.alg.mvs

Class ColorizeCloudFromImage<T extends ImageBase<T>>

java.lang.Object

boofcv.alg.mvs.ColorizeCloudFromImage<T>

public class ColorizeCloudFromImage<T extends ImageBase<T>>
extends Object

Given a set of 3D points and the image they are from, extract the RGB value. Since only a single image is used there is the potential for more noise. However this is much simpler and faster.

Field Summary

Fields

Modifier and Type	Field	Description
protected final LookUpColorRgb<T>	colorLookup
protected final Point2D_F64	pixel
protected final Point3D_F64	viewPt
protected final Point4D_F64	viewPt4

Constructor Summary

Constructors

Constructor	Description
ColorizeCloudFromImage(LookUpColorRgb<T> colorLookup)

Method Summary

Modifier and Type	Method	Description
void	process3(T image, Iterator<PointIndex3D_F64> cloud, Se3_F64 world_to_view, Point2Transform2_F64 norm_to_pixel, BoofLambdas.IndexRgbConsumer colorizer)
void	process3(T image, List<Point3D_F64> cloud, int idx0, int idx1, Se3_F64 world_to_view, Point2Transform2_F64 norm_to_pixel, BoofLambdas.IndexRgbConsumer colorizer)	Colorizes all the points in the specified range using the specified image.
void	process4(T image, Iterator<PointIndex4D_F64> cloud, Se3_F64 world_to_view, Point2Transform2_F64 norm_to_pixel, BoofLambdas.IndexRgbConsumer colorizer)
void	process4(T image, List<Point4D_F64> cloud, int idx0, int idx1, Se3_F64 world_to_view, Point2Transform2_F64 norm_to_pixel, BoofLambdas.IndexRgbConsumer colorizer)	Colorizes all the points in the specified range using the specified image.

Methods inherited from class java.lang.Object

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

Field Details

colorLookup

protected final LookUpColorRgb<T extends ImageBase<T>> colorLookup

viewPt

protected final Point3D_F64 viewPt

viewPt4

protected final Point4D_F64 viewPt4

pixel

protected final Point2D_F64 pixel

Constructor Details

ColorizeCloudFromImage

public ColorizeCloudFromImage(LookUpColorRgb<T> colorLookup)

Method Details

process3

public void process3(T image,
 List<Point3D_F64> cloud,
 int idx0,
 int idx1,
 Se3_F64 world_to_view,
 Point2Transform2_F64 norm_to_pixel,
 BoofLambdas.IndexRgbConsumer colorizer)

Colorizes all the points in the specified range using the specified image.

Parameters:

image - (Input) Which image is being considered

cloud - (Input) The point cloud

idx0 - (Input) The first point in the point cloud that's inside this image. Inclusive.

idx1 - (Input) The last point in the point cloud that's inside this image. Exclusive.

world_to_view - (Input) Transform from world (cloud) into this image/view.

norm_to_pixel - (Input) Normalized image coordinates into pixel coordinates.

colorizer - (Output) As the color of each point becomes known this function is invoked.

process3

public void process3(T image,
 Iterator<PointIndex3D_F64> cloud,
 Se3_F64 world_to_view,
 Point2Transform2_F64 norm_to_pixel,
 BoofLambdas.IndexRgbConsumer colorizer)

process4

public void process4(T image,
 List<Point4D_F64> cloud,
 int idx0,
 int idx1,
 Se3_F64 world_to_view,
 Point2Transform2_F64 norm_to_pixel,
 BoofLambdas.IndexRgbConsumer colorizer)

Colorizes all the points in the specified range using the specified image.

Parameters:

image - (Input) Which image is being considered

cloud - (Input) The point cloud in homogenous coordinates

idx0 - (Input) The first point in the point cloud that's inside this image. Inclusive.

idx1 - (Input) The last point in the point cloud that's inside this image. Exclusive.

world_to_view - (Input) Transform from world (cloud) into this image/view.

norm_to_pixel - (Input) Normalized image coordinates into pixel coordinates.

colorizer - (Output) As the color of each point becomes known this function is invoked.

process4

public void process4(T image,
 Iterator<PointIndex4D_F64> cloud,
 Se3_F64 world_to_view,
 Point2Transform2_F64 norm_to_pixel,
 BoofLambdas.IndexRgbConsumer colorizer)