Peter: Created page with "Programmically creating a 3D point cloud viewer using the built in tools. '''Example Code:''' * [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/b..."

2021-07-12T22:08:13Z

Created page with "Programmically creating a 3D point cloud viewer using the built in tools. '''Example Code:''' * [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/b..."

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Programmically creating a 3D point cloud viewer using the built in tools.

'''Example Code:'''
* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/pointclouds/ExampleViewPointCloud.java ExampleViewPointCloud.java]

'''Concepts:'''
* 3D Point Cloud

'''Related Examples:'''
* [[Example_Load_and_Save_Point_Clouds| Loading and Saving a Point Cloud]]

= Example Code =

<syntaxhighlight lang="java">
/**
* Shows you how to open a point cloud file and display it in a simple window.
*
* @author Peter Abeles
*/
public class ExampleViewPointCloud {
public static void main( String[] args ) throws IOException {
String filePath = UtilIO.pathExample("mvs/stone_sign.ply");

// Load the PLY file
var cloud = new DogArray<>(Point3dRgbI_F32::new);
PointCloudIO.load(PointCloudIO.Format.PLY, new FileInputStream(filePath), PointCloudWriter.wrapF32RGB(cloud));

System.out.println("Total Points " + cloud.size);

// Create the 3D viewer as a Swing panel that will have some minimal controls for adjusting the clouds
// appearance. Since a software render is used it will get a bit sluggish (on my computer)
// around 1,000,000 points
PointCloudViewerPanel viewerPanel = new PointCloudViewerPanel();
viewerPanel.setPreferredSize(new Dimension(800, 600));

PointCloudViewer viewer = viewerPanel.getViewer();
// Change the camera's Field-of-View
viewer.setCameraHFov(UtilAngle.radian(60));
// So many formats to store a 3D point and color that a functional API is used here
viewer.addCloud(
( idx, p ) -> ConvertFloatType.convert(cloud.get(idx), p),
( idx ) -> cloud.get(idx).rgb, cloud.size);

// There are a ton of options for the viewer, but we will let the GUI handle most of them
// Alternatively, you could use VisualizeData.createPointCloudViewer(). No controls are
// provided if you use that.

SwingUtilities.invokeLater(() -> {
viewerPanel.handleControlChange();
viewerPanel.repaint();
ShowImages.showWindow(viewerPanel, "Point Cloud", true);
});
}
}
</syntaxhighlight>

Example View Point Cloud - Revision history

Peter: Created page with "Programmically creating a 3D point cloud viewer using the built in tools. '''Example Code:''' * [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/b..."