Examples with FastQueue org.ddogleg.struct.FastQueue used on opensource projects

Example 26 with FastQueue

use of org.ddogleg.struct.FastQueue in project BoofCV by lessthanoptimal.

the class TestVisualDepthOps method depthTo3D.

@Test
public void depthTo3D() {
    GrayU16 depth = new GrayU16(width, height);
    depth.set(200, 80, 3400);
    depth.set(600, 420, 50);
    FastQueue<Point3D_F64> pts = new FastQueue<>(Point3D_F64.class, true);
    VisualDepthOps.depthTo3D(param, depth, pts);
    assertEquals(2, pts.size());
    assertEquals(0, compute(200, 80, 3400).distance(pts.get(0)), 1e-8);
    assertEquals(0, compute(600, 420, 50).distance(pts.get(1)), 1e-8);
}

Example 27 with FastQueue

use of org.ddogleg.struct.FastQueue in project BoofCV by lessthanoptimal.

the class ExampleDepthPointCloud method main.

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.class, true);
    FastQueueArray_I32 cloudColor = new FastQueueArray_I32(3);
    VisualDepthOps.depthTo3D(param.visualParam, rgb, depth, cloud, cloudColor);
    DMatrixRMaj K = PerspectiveOps.calibrationMatrix(param.visualParam, (DMatrixRMaj) null);
    PointCloudViewer viewer = new PointCloudViewer(K, 15);
    viewer.setPreferredSize(new Dimension(rgb.width, rgb.height));
    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);
    }
    // ---------- 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, 0, maxValue, 0);
    ShowImages.showWindow(depthOut, "Depth Image");
    // ---------- Display colorized point cloud
    ShowImages.showWindow(viewer, "Point Cloud");
    System.out.println("Total points = " + cloud.size);
}