Package boofcv.alg.mvs

Class ColorizeMultiViewStereoResults<T extends ImageBase<T>>

java.lang.Object

boofcv.alg.mvs.ColorizeMultiViewStereoResults<T>

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

Helper class which handles all the data structure manipulations for extracting RGB color values from a point cloud computed by MultiViewStereoFromKnownSceneStructure. Color information is extracted only using the first view a point was seen inside of.

Constructor Summary

Constructors

Constructor	Description
ColorizeMultiViewStereoResults(LookUpColorRgb<T> colorLookup, LookUpImages lookupImages)	Specifies configurations

Method Summary

Modifier and Type	Method	Description
void	processMvsCloud(SceneStructureMetric scene, @Nullable SceneObservations observations, MultiViewStereoFromKnownSceneStructure<?> mvs, BoofLambdas.IndexRgbConsumer indexColor)	Extracts color information for the point cloud on a view by view basis.
void	processScenePoints(SceneStructureMetric scene, @Nullable SceneObservations observations, BoofLambdas.IndexToString indexToId, BoofLambdas.IndexRgbConsumer indexColor)	Looks up the colors for all the points in the scene by reprojecting them back onto their original images.

Methods inherited from class java.lang.Object

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

Constructor Details

ColorizeMultiViewStereoResults

public ColorizeMultiViewStereoResults(LookUpColorRgb<T> colorLookup,
 LookUpImages lookupImages)

Specifies configurations

Parameters:

colorLookup - Convert pixels into RGB color

lookupImages - Load images given a string iD

Method Details

processMvsCloud

public void processMvsCloud(SceneStructureMetric scene,
 @Nullable
 @Nullable SceneObservations observations,
 MultiViewStereoFromKnownSceneStructure<?> mvs,
 BoofLambdas.IndexRgbConsumer indexColor)

Extracts color information for the point cloud on a view by view basis.

Parameters:

scene - (Input) Geometric description of the scene

observations - (Input) Observations of the camera state

mvs - (Input) Contains the 3D point cloud

indexColor - (Output) RGB values are passed through to this function.

processScenePoints

public void processScenePoints(SceneStructureMetric scene,
 @Nullable
 @Nullable SceneObservations observations,
 BoofLambdas.IndexToString indexToId,
 BoofLambdas.IndexRgbConsumer indexColor)

Looks up the colors for all the points in the scene by reprojecting them back onto their original images.

Parameters:

scene - (Input) Scene's structure

observations - (Input) Observations of the camera state. Null if fixed focus.

indexToId - (Input) Convert view index to view ID

indexColor - (Output) RGB values are passed through to this function.