Documentation of 'boofcv.gui.d3.PointCloudViewer' Java class
PointCloudViewer
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boofcv.gui.d3

Class PointCloudViewer

  • All Implemented Interfaces:
    java.awt.event.KeyListener, java.awt.event.MouseListener, java.awt.event.MouseMotionListener, java.awt.event.MouseWheelListener, java.awt.image.ImageObserver, java.awt.MenuContainer, java.io.Serializable, java.util.EventListener, javax.accessibility.Accessible

    public class PointCloudViewer
extends javax.swing.JPanel
implements java.awt.event.MouseMotionListener, java.awt.event.MouseListener, java.awt.event.MouseWheelListener, java.awt.event.KeyListener

    Renders a 3D point cloud using a perspective pin hole camera model.

    Rendering speed is improved by first rendering onto a grid and only accepting the highest (closest to viewing camera) point as being visible.

    See Also:
    Serialized Form

    • Nested Class Summary

      • Nested classes/interfaces inherited from class javax.swing.JComponent

        javax.swing.JComponent.AccessibleJComponent

      • Nested classes/interfaces inherited from class java.awt.Component

        java.awt.Component.BaselineResizeBehavior

    • Field Summary

      Fields 
      Modifier and Type Field and Description
      double radius 
      int tiltAngle 

      • Fields inherited from class javax.swing.JComponent

        TOOL_TIP_TEXT_KEY, UNDEFINED_CONDITION, WHEN_ANCESTOR_OF_FOCUSED_COMPONENT, WHEN_FOCUSED, WHEN_IN_FOCUSED_WINDOW

      • Fields inherited from class java.awt.Component

        BOTTOM_ALIGNMENT, CENTER_ALIGNMENT, LEFT_ALIGNMENT, RIGHT_ALIGNMENT, TOP_ALIGNMENT

      • Fields inherited from interface java.awt.image.ImageObserver

        ABORT, ALLBITS, ERROR, FRAMEBITS, HEIGHT, PROPERTIES, SOMEBITS, WIDTH

    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method and Description
      void addPoint(double x, double y, double z, int rgb) 
      void configure(org.ejml.data.DenseMatrix64F K)
      Specify camera parameters for rendering purposes
      void keyPressed(java.awt.event.KeyEvent e) 
      void keyReleased(java.awt.event.KeyEvent e) 
      void keyTyped(java.awt.event.KeyEvent e) 
      void mouseClicked(java.awt.event.MouseEvent e) 
      void mouseDragged(java.awt.event.MouseEvent e) 
      void mouseEntered(java.awt.event.MouseEvent e) 
      void mouseExited(java.awt.event.MouseEvent e) 
      void mouseMoved(java.awt.event.MouseEvent e) 
      void mousePressed(java.awt.event.MouseEvent e) 
      void mouseReleased(java.awt.event.MouseEvent e) 
      void mouseWheelMoved(java.awt.event.MouseWheelEvent e) 
      void paintComponent(java.awt.Graphics g) 
      void reset() 
      void setWorldToCamera(Se3_F64 worldToCamera) 

      • Methods inherited from class javax.swing.JPanel

        getAccessibleContext, getUI, getUIClassID, setUI, updateUI

      • Methods inherited from class javax.swing.JComponent

        addAncestorListener, addNotify, addVetoableChangeListener, computeVisibleRect, contains, createToolTip, disable, enable, firePropertyChange, firePropertyChange, firePropertyChange, getActionForKeyStroke, getActionMap, getAlignmentX, getAlignmentY, getAncestorListeners, getAutoscrolls, getBaseline, getBaselineResizeBehavior, getBorder, getBounds, getClientProperty, getComponentPopupMenu, getConditionForKeyStroke, getDebugGraphicsOptions, getDefaultLocale, getFontMetrics, getGraphics, getHeight, getInheritsPopupMenu, getInputMap, getInputMap, getInputVerifier, getInsets, getInsets, getListeners, getLocation, getMaximumSize, getMinimumSize, getNextFocusableComponent, getPopupLocation, getPreferredSize, getRegisteredKeyStrokes, getRootPane, getSize, getToolTipLocation, getToolTipText, getToolTipText, getTopLevelAncestor, getTransferHandler, getVerifyInputWhenFocusTarget, getVetoableChangeListeners, getVisibleRect, getWidth, getX, getY, grabFocus, hide, isDoubleBuffered, isLightweightComponent, isManagingFocus, isOpaque, isOptimizedDrawingEnabled, isPaintingForPrint, isPaintingTile, isRequestFocusEnabled, isValidateRoot, paint, paintImmediately, paintImmediately, print, printAll, putClientProperty, registerKeyboardAction, registerKeyboardAction, removeAncestorListener, removeNotify, removeVetoableChangeListener, repaint, repaint, requestDefaultFocus, requestFocus, requestFocus, requestFocusInWindow, resetKeyboardActions, reshape, revalidate, scrollRectToVisible, setActionMap, setAlignmentX, setAlignmentY, setAutoscrolls, setBackground, setBorder, setComponentPopupMenu, setDebugGraphicsOptions, setDefaultLocale, setDoubleBuffered, setEnabled, setFocusTraversalKeys, setFont, setForeground, setInheritsPopupMenu, setInputMap, setInputVerifier, setMaximumSize, setMinimumSize, setNextFocusableComponent, setOpaque, setPreferredSize, setRequestFocusEnabled, setToolTipText, setTransferHandler, setVerifyInputWhenFocusTarget, setVisible, unregisterKeyboardAction, update

      • Methods inherited from class java.awt.Container

        add, add, add, add, add, addContainerListener, addPropertyChangeListener, addPropertyChangeListener, applyComponentOrientation, areFocusTraversalKeysSet, countComponents, deliverEvent, doLayout, findComponentAt, findComponentAt, getComponent, getComponentAt, getComponentAt, getComponentCount, getComponents, getComponentZOrder, getContainerListeners, getFocusTraversalKeys, getFocusTraversalPolicy, getLayout, getMousePosition, insets, invalidate, isAncestorOf, isFocusCycleRoot, isFocusCycleRoot, isFocusTraversalPolicyProvider, isFocusTraversalPolicySet, layout, list, list, locate, minimumSize, paintComponents, preferredSize, printComponents, remove, remove, removeAll, removeContainerListener, setComponentZOrder, setFocusCycleRoot, setFocusTraversalPolicy, setFocusTraversalPolicyProvider, setLayout, transferFocusDownCycle, validate

      • Methods inherited from class java.awt.Component

        action, add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addMouseWheelListener, bounds, checkImage, checkImage, contains, createImage, createImage, createVolatileImage, createVolatileImage, dispatchEvent, enable, enableInputMethods, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, firePropertyChange, getBackground, getBounds, getColorModel, getComponentListeners, getComponentOrientation, getCursor, getDropTarget, getFocusCycleRootAncestor, getFocusListeners, getFocusTraversalKeysEnabled, getFont, getForeground, getGraphicsConfiguration, getHierarchyBoundsListeners, getHierarchyListeners, getIgnoreRepaint, getInputContext, getInputMethodListeners, getInputMethodRequests, getKeyListeners, getLocale, getLocation, getLocationOnScreen, getMouseListeners, getMouseMotionListeners, getMousePosition, getMouseWheelListeners, getName, getParent, getPeer, getPropertyChangeListeners, getPropertyChangeListeners, getSize, getToolkit, getTreeLock, gotFocus, handleEvent, hasFocus, imageUpdate, inside, isBackgroundSet, isCursorSet, isDisplayable, isEnabled, isFocusable, isFocusOwner, isFocusTraversable, isFontSet, isForegroundSet, isLightweight, isMaximumSizeSet, isMinimumSizeSet, isPreferredSizeSet, isShowing, isValid, isVisible, keyDown, keyUp, list, list, list, location, lostFocus, mouseDown, mouseDrag, mouseEnter, mouseExit, mouseMove, mouseUp, move, nextFocus, paintAll, postEvent, prepareImage, prepareImage, remove, removeComponentListener, removeFocusListener, removeHierarchyBoundsListener, removeHierarchyListener, removeInputMethodListener, removeKeyListener, removeMouseListener, removeMouseMotionListener, removeMouseWheelListener, removePropertyChangeListener, removePropertyChangeListener, repaint, repaint, repaint, resize, resize, setBounds, setBounds, setComponentOrientation, setCursor, setDropTarget, setFocusable, setFocusTraversalKeysEnabled, setIgnoreRepaint, setLocale, setLocation, setLocation, setName, setSize, setSize, show, show, size, toString, transferFocus, transferFocusBackward, transferFocusUpCycle

      • Methods inherited from class java.lang.Object

        equals, getClass, hashCode, notify, notifyAll, wait, wait, wait

    • Field Detail

      • tiltAngle

        public int tiltAngle

      • radius

        public double radius

    • Constructor Detail

      • PointCloudViewer

        public PointCloudViewer(double keyStepSize)

      • PointCloudViewer

        public PointCloudViewer(org.ejml.data.DenseMatrix64F K,
                        double keyStepSize)

      • PointCloudViewer

        public PointCloudViewer(IntrinsicParameters intrinsic,
                        double keyStepSize)

    • Method Detail

      • setWorldToCamera

        public void setWorldToCamera(Se3_F64 worldToCamera)

      • configure

        public void configure(org.ejml.data.DenseMatrix64F K)
        Specify camera parameters for rendering purposes
        Parameters:
        K - Intrinsic camera calibration matrix of rectified camera

      • reset

        public void reset()

      • addPoint

        public void addPoint(double x,
                     double y,
                     double z,
                     int rgb)

      • paintComponent

        public void paintComponent(java.awt.Graphics g)
        Overrides:
        paintComponent in class javax.swing.JComponent

      • keyTyped

        public void keyTyped(java.awt.event.KeyEvent e)
        Specified by:
        keyTyped in interface java.awt.event.KeyListener

      • keyPressed

        public void keyPressed(java.awt.event.KeyEvent e)
        Specified by:
        keyPressed in interface java.awt.event.KeyListener

      • keyReleased

        public void keyReleased(java.awt.event.KeyEvent e)
        Specified by:
        keyReleased in interface java.awt.event.KeyListener

      • mouseWheelMoved

        public void mouseWheelMoved(java.awt.event.MouseWheelEvent e)
        Specified by:
        mouseWheelMoved in interface java.awt.event.MouseWheelListener

      • mouseClicked

        public void mouseClicked(java.awt.event.MouseEvent e)
        Specified by:
        mouseClicked in interface java.awt.event.MouseListener

      • mousePressed

        public void mousePressed(java.awt.event.MouseEvent e)
        Specified by:
        mousePressed in interface java.awt.event.MouseListener

      • mouseReleased

        public void mouseReleased(java.awt.event.MouseEvent e)
        Specified by:
        mouseReleased in interface java.awt.event.MouseListener

      • mouseEntered

        public void mouseEntered(java.awt.event.MouseEvent e)
        Specified by:
        mouseEntered in interface java.awt.event.MouseListener

      • mouseExited

        public void mouseExited(java.awt.event.MouseEvent e)
        Specified by:
        mouseExited in interface java.awt.event.MouseListener

      • mouseDragged

        public void mouseDragged(java.awt.event.MouseEvent e)
        Specified by:
        mouseDragged in interface java.awt.event.MouseMotionListener

      • mouseMoved

        public void mouseMoved(java.awt.event.MouseEvent e)
        Specified by:
        mouseMoved in interface java.awt.event.MouseMotionListener
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