Difference between revisions of "Example Point Cloud Depth Image"
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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. | * [https://github.com/lessthanoptimal/BoofCV/blob/v0.36/examples/src/main/java/boofcv/examples/geometry/ExampleDepthPointCloud.java ExampleDepthPointCloud.java] | ||
Concepts: | Concepts: | ||
* RGB-D | * RGB-D | ||
* Point clouds | * Point clouds | ||
Related Examples: | Related Examples: | ||
Line 34: | Line 30: | ||
public static void main( String args[] ) throws IOException { | public static void main( String args[] ) throws IOException { | ||
String | String nameRgb = UtilIO.pathExample("kinect/basket/basket_rgb.png"); | ||
String nameDepth = UtilIO.pathExample("kinect/basket/basket_depth.png"); | |||
String nameCalib = UtilIO.pathExample("kinect/basket/visualdepth.yaml"); | |||
String nameDepth = | |||
String nameCalib = | |||
VisualDepthParameters param = | VisualDepthParameters param = CalibrationIO.load(nameCalib); | ||
BufferedImage buffered = UtilImageIO.loadImage(nameRgb); | BufferedImage buffered = UtilImageIO.loadImage(nameRgb); | ||
Planar<GrayU8> rgb = ConvertBufferedImage.convertFromPlanar(buffered,null,true,GrayU8.class); | |||
GrayU16 depth = | |||
ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null, | ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class); | ||
FastQueue<Point3D_F64> cloud = new FastQueue< | FastQueue<Point3D_F64> cloud = new FastQueue<>(Point3D_F64::new); | ||
FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3); | FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3); | ||
VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor); | VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor); | ||
PointCloudViewer viewer = VisualizeData.createPointCloudViewer(); | |||
viewer.setCameraHFov(PerspectiveOps.computeHFov(param.visualParam)); | |||
viewer.setTranslationStep(15); | |||
viewer. | |||
for( int i = 0; i < cloud.size; i++ ) { | for( int i = 0; i < cloud.size; i++ ) { | ||
Line 63: | Line 56: | ||
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 | ||
// 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 | BufferedImage depthOut = VisualizeImageData.disparity(depth, null, 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> |
Revision as of 22:09, 17 May 2020
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:
Concepts:
- RGB-D
- Point clouds
Related Examples:
Example Code
/**
* 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.
*
* @author Peter Abeles
*/
public class ExampleDepthPointCloud {
public static void main( String args[] ) throws IOException {
String nameRgb = UtilIO.pathExample("kinect/basket/basket_rgb.png");
String nameDepth = UtilIO.pathExample("kinect/basket/basket_depth.png");
String nameCalib = UtilIO.pathExample("kinect/basket/visualdepth.yaml");
VisualDepthParameters param = CalibrationIO.load(nameCalib);
BufferedImage buffered = UtilImageIO.loadImage(nameRgb);
Planar<GrayU8> rgb = ConvertBufferedImage.convertFromPlanar(buffered,null,true,GrayU8.class);
GrayU16 depth =
ConvertBufferedImage.convertFrom(UtilImageIO.loadImage(nameDepth),null,GrayU16.class);
FastQueue<Point3D_F64> cloud = new FastQueue<>(Point3D_F64::new);
FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);
VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor);
PointCloudViewer viewer = VisualizeData.createPointCloudViewer();
viewer.setCameraHFov(PerspectiveOps.computeHFov(param.visualParam));
viewer.setTranslationStep(15);
for( int i = 0; i < cloud.size; i++ ) {
Point3D_F64 p = cloud.get(i);
int[] color = cloudColor.get(i);
int c = (color[0] << 16 ) | (color[1] << 8) | color[2];
viewer.addPoint(p.x,p.y,p.z,c);
}
viewer.getComponent().setPreferredSize(new Dimension(rgb.width,rgb.height));
// ---------- Display depth image
// use the actual max value in the image to maximize its appearance
int maxValue = ImageStatistics.max(depth);
BufferedImage depthOut = VisualizeImageData.disparity(depth, null, maxValue, 0);
ShowImages.showWindow(depthOut,"Depth Image", true);
// ---------- Display colorized point cloud
ShowImages.showWindow(viewer.getComponent(),"Point Cloud", true);
System.out.println("Total points = "+cloud.size);
}
}