Example Point Cloud Depth Image - Revision history

Peter at 22:54, 17 January 2022

2022-01-17T22:54:05Z

← Older revision		Revision as of 22:54, 17 January 2022
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:
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	VisualDepthParameters param = CalibrationIO.load(nameCalib);		VisualDepthParameters param = CalibrationIO.load(nameCalib);

	BufferedImage buffered = UtilImageIO.~~loadImage~~(nameRgb);		BufferedImage buffered = UtilImageIO.loadImageNotNull(nameRgb);
	Planar<GrayU8> rgb = ConvertBufferedImage.convertFromPlanar(buffered, null, true, GrayU8.class);		Planar<GrayU8> rgb = ConvertBufferedImage.convertFromPlanar(buffered, null, true, GrayU8.class);
	GrayU16 depth = ConvertBufferedImage.convertFrom(UtilImageIO.~~loadImage~~(nameDepth), null, GrayU16.class);		GrayU16 depth = ConvertBufferedImage.convertFrom(UtilImageIO.loadImageNotNull(nameDepth), null, GrayU16.class);

	var cloud = new DogArray<>(Point3D_F64::new);		var cloud = new DogArray<>(Point3D_F64::new);

Peter at 18:14, 12 July 2021

2021-07-12T18:14:46Z

← Older revision		Revision as of 18:14, 12 July 2021
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:
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	<syntaxhighlight lang="java">		<syntaxhighlight lang="java">
	/**		/**
	* Example of how to create a point cloud from a RGB-D (Kinect) sensor. Data is loaded from two files, one for the		* Example of how to create a point cloud from a RGB-D (Kinect) sensor. Data is loaded from two files, one for the
	* visual image and one for the depth image.		* visual image and one for the depth image.
	*		*

Peter at 02:04, 22 December 2020

2020-12-22T02:04:53Z

← Older revision		Revision as of 02:04, 22 December 2020
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:
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	*/		*/
	public class ExampleDepthPointCloud {		public class ExampleDepthPointCloud {
			public static void main( String[] args ) {
	public static void main( String ~~args~~[] ) ~~throws IOException~~ {
	String nameRgb = UtilIO.pathExample("kinect/basket/basket_rgb.png");		String nameRgb = UtilIO.pathExample("kinect/basket/basket_rgb.png");
	String nameDepth = UtilIO.pathExample("kinect/basket/basket_depth.png");		String nameDepth = UtilIO.pathExample("kinect/basket/basket_depth.png");
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	BufferedImage buffered = UtilImageIO.loadImage(nameRgb);		BufferedImage buffered = UtilImageIO.loadImage(nameRgb);
	Planar<GrayU8> rgb = ConvertBufferedImage.convertFromPlanar(buffered,null,true,GrayU8.class);		Planar<GrayU8> rgb = ConvertBufferedImage.convertFromPlanar(buffered, null, true, GrayU8.class);
	GrayU16 depth =		GrayU16 depth = ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth), null, GrayU16.class);
	ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class);

	~~FastQueue<Point3D_F64>~~ cloud = new ~~FastQueue~~<>(Point3D_F64::new);		var cloud = new DogArray<>(Point3D_F64::new);
	~~FastQueueArray_I32~~ cloudColor = new ~~FastQueueArray_I32~~(3);		var cloudColor = new DogArray<>(() -> new int[3]);

	VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor);		VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor);
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	viewer.setTranslationStep(15);		viewer.setTranslationStep(15);

	for( int i = 0; i < cloud.size; i++ ) {		for (int i = 0; i < cloud.size; i++) {
	Point3D_F64 p = cloud.get(i);		Point3D_F64 p = cloud.get(i);
	int[] color = cloudColor.get(i);		int[] color = cloudColor.get(i);
	int c = (color[0] << 16 ) \| (color[1] << 8) \| color[2];		int c = (color[0] << 16) \| (color[1] << 8) \| color[2];
	viewer.addPoint(p.x,p.y,p.z,c);		viewer.addPoint(p.x, p.y, p.z, c);
	}		}
	viewer.getComponent().setPreferredSize(new Dimension(rgb.width,rgb.height));		viewer.getComponent().setPreferredSize(new Dimension(rgb.width, rgb.height));

	// ---------- Display depth image		// ---------- Display depth image
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	int maxValue = ImageStatistics.max(depth);		int maxValue = ImageStatistics.max(depth);
	BufferedImage depthOut = VisualizeImageData.disparity(depth, null, maxValue, 0);		BufferedImage depthOut = VisualizeImageData.disparity(depth, null, maxValue, 0);
	ShowImages.showWindow(depthOut,"Depth Image", true);		ShowImages.showWindow(depthOut, "Depth Image", true);

	// ---------- Display colorized point cloud		// ---------- Display colorized point cloud
	ShowImages.showWindow(viewer.getComponent(),"Point Cloud", true);		ShowImages.showWindow(viewer.getComponent(), "Point Cloud", true);
	System.out.println("Total points = "+cloud.size);		System.out.println("Total points = " + cloud.size);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 05:09, 18 May 2020

2020-05-18T05:09:23Z

← Older revision		Revision as of 05:09, 18 May 2020
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:
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	ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class);		ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class);

	FastQueue<Point3D_F64> cloud = new FastQueue<>(Point3D_F64~~.class, true~~);		FastQueue<Point3D_F64> cloud = new FastQueue<>(Point3D_F64::new);
	FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);		FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);

Peter at 01:01, 24 December 2019

2019-12-24T01:01:57Z

← Older revision		Revision as of 01:01, 24 December 2019
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:
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	// use the actual max value in the image to maximize its appearance		// use the actual max value in the image to maximize its appearance
	int maxValue = ImageStatistics.max(depth);		int maxValue = ImageStatistics.max(depth);
	BufferedImage depthOut = VisualizeImageData.disparity(depth, null~~, 0~~, maxValue, 0);		BufferedImage depthOut = VisualizeImageData.disparity(depth, null, maxValue, 0);
	ShowImages.showWindow(depthOut,"Depth Image", true);		ShowImages.showWindow(depthOut,"Depth Image", true);

Peter at 02:57, 17 October 2018

2018-10-17T02:57:03Z

← Older revision		Revision as of 02:57, 17 October 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:

Peter at 02:56, 17 October 2018

2018-10-17T02:56:20Z

← Older revision		Revision as of 02:56, 17 October 2018
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:
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	VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor);		VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor);

	~~DMatrixRMaj K~~ = ~~PerspectiveOps~~.~~calibrationMatrix~~(~~param.visualParam, (DMatrixRMaj)null~~);		PointCloudViewer viewer = VisualizeData.createPointCloudViewer();
			viewer.setCameraHFov(PerspectiveOps.computeHFov(param.visualParam));
	~~PointCloudViewer~~ viewer ~~= new PointCloudViewer~~(~~K, 15~~);		viewer.setTranslationStep(15);
	viewer.~~setPreferredSize~~(~~new Dimension(rgb.width,rgb.height)~~);

	for( int i = 0; i < cloud.size; i++ ) {		for( int i = 0; i < cloud.size; i++ ) {
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	viewer.addPoint(p.x,p.y,p.z,c);		viewer.addPoint(p.x,p.y,p.z,c);
	}		}
			viewer.getComponent().setPreferredSize(new Dimension(rgb.width,rgb.height));

	// ---------- Display depth image		// ---------- Display depth image
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	int maxValue = ImageStatistics.max(depth);		int maxValue = ImageStatistics.max(depth);
	BufferedImage depthOut = VisualizeImageData.disparity(depth, null, 0, maxValue, 0);		BufferedImage depthOut = VisualizeImageData.disparity(depth, null, 0, maxValue, 0);
	ShowImages.showWindow(depthOut,"Depth Image");		ShowImages.showWindow(depthOut,"Depth Image", true);

	// ---------- Display colorized point cloud		// ---------- Display colorized point cloud
	ShowImages.showWindow(viewer,"Point Cloud");		ShowImages.showWindow(viewer.getComponent(),"Point Cloud", true);
	System.out.println("Total points = "+cloud.size);		System.out.println("Total points = "+cloud.size);
	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 15:45, 17 August 2017

2017-08-17T15:45:40Z

← Older revision		Revision as of 15:45, 17 August 2017
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.27/examples/src/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:
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	String nameRgb = UtilIO.pathExample("kinect/basket/basket_rgb.png");		String nameRgb = UtilIO.pathExample("kinect/basket/basket_rgb.png");
	String nameDepth = UtilIO.pathExample("kinect/basket/basket_depth.png");		String nameDepth = UtilIO.pathExample("kinect/basket/basket_depth.png");
	String nameCalib = UtilIO.pathExample("kinect/basket/visualdepth.~~xml~~");		String nameCalib = UtilIO.pathExample("kinect/basket/visualdepth.yaml");

	VisualDepthParameters param = ~~UtilIO~~.~~loadXML~~(nameCalib);		VisualDepthParameters param = CalibrationIO.load(nameCalib);

	BufferedImage buffered = UtilImageIO.loadImage(nameRgb);		BufferedImage buffered = UtilImageIO.loadImage(nameRgb);
	Planar<GrayU8> rgb = ConvertBufferedImage.~~convertFromMulti~~(buffered,null,true,GrayU8.class);		Planar<GrayU8> rgb = ConvertBufferedImage.convertFromPlanar(buffered,null,true,GrayU8.class);
	GrayU16 depth =		GrayU16 depth =
	ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class);		ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class);
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	VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor);		VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor);

	~~DenseMatrix64F~~ K = PerspectiveOps.calibrationMatrix(param.visualParam,null);		DMatrixRMaj K = PerspectiveOps.calibrationMatrix(param.visualParam, (DMatrixRMaj)null);

	PointCloudViewer viewer = new PointCloudViewer(K, 15);		PointCloudViewer viewer = new PointCloudViewer(K, 15);

Peter at 23:29, 1 December 2016

2016-12-01T23:29:35Z

← Older revision		Revision as of 23:29, 1 December 2016
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	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.25/examples/src/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:
	* RGB-D		* RGB-D
	* Point clouds		* Point clouds

	~~Relevant Applets:~~
	* [[Applet Visual Odometry Depth\| Depth Visual Odometry]]

	Related Examples:		Related Examples:
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	ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class);		ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class);

	FastQueue<Point3D_F64> cloud = new FastQueue<~~Point3D_F64~~>(Point3D_F64.class,true);		FastQueue<Point3D_F64> cloud = new FastQueue<>(Point3D_F64.class, true);
	FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);		FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);

Peter at 06:00, 28 March 2016

2016-03-28T06:00:53Z

← Older revision		Revision as of 06:00, 28 March 2016
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	This example demonstrates how to create a 3D point cloud from a RGB-D sensor, such as the Kinect, and visualize it. RGB-D sensors have both visual and depth information. In this example the depth information is stored in a 16-bit image and the visual image in a standard color image. Calibration matching RGB an depth pixels to each other has already been done by the sensor.		This example demonstrates how to create a 3D point cloud from a RGB-D sensor, such as the Kinect, and visualize it. RGB-D sensors have both visual and depth information. In this example the depth information is stored in a 16-bit image and the visual image in a standard color image. Calibration matching RGB an depth pixels to each other has already been done by the sensor.


	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.20/examples/src/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.23/examples/src/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java]

	Concepts:		Concepts:
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	BufferedImage buffered = UtilImageIO.loadImage(nameRgb);		BufferedImage buffered = UtilImageIO.loadImage(nameRgb);
	~~MultiSpectral~~<~~ImageUInt8~~> rgb = ConvertBufferedImage.convertFromMulti(buffered,null,true,~~ImageUInt8~~.class);		Planar<GrayU8> rgb = ConvertBufferedImage.convertFromMulti(buffered,null,true,GrayU8.class);
	~~ImageUInt16~~ depth =		GrayU16 depth =
	ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,~~ImageUInt16~~.class);		ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class);

	FastQueue<Point3D_F64> cloud = new FastQueue<Point3D_F64>(Point3D_F64.class,true);		FastQueue<Point3D_F64> cloud = new FastQueue<Point3D_F64>(Point3D_F64.class,true);