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.
javax.swing.JPanel.AccessibleJPaneljavax.swing.JComponent.AccessibleJComponent| Modifier and Type | Field and Description |
|---|---|
double |
radius |
int |
tiltAngle |
listenerList, TOOL_TIP_TEXT_KEY, ui, UNDEFINED_CONDITION, WHEN_ANCESTOR_OF_FOCUSED_COMPONENT, WHEN_FOCUSED, WHEN_IN_FOCUSED_WINDOW| Constructor and Description |
|---|
PointCloudViewer(boofcv.struct.calib.CameraPinholeRadial intrinsic,
double keyStepSize) |
PointCloudViewer(org.ejml.data.DMatrixRMaj K,
double keyStepSize) |
PointCloudViewer(double keyStepSize) |
| Modifier and Type | Method and Description |
|---|---|
void |
addPoint(double x,
double y,
double z,
int rgb) |
void |
configure(org.ejml.data.DMatrixRMaj 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(georegression.struct.se.Se3_F64 worldToCamera) |
getAccessibleContext, getUI, getUIClassID, paramString, setUI, updateUIaddAncestorListener, addNotify, addVetoableChangeListener, computeVisibleRect, contains, createToolTip, disable, enable, firePropertyChange, firePropertyChange, firePropertyChange, fireVetoableChange, getActionForKeyStroke, getActionMap, getAlignmentX, getAlignmentY, getAncestorListeners, getAutoscrolls, getBaseline, getBaselineResizeBehavior, getBorder, getBounds, getClientProperty, getComponentGraphics, 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, isPaintingOrigin, isPaintingTile, isRequestFocusEnabled, isValidateRoot, paint, paintBorder, paintChildren, paintImmediately, paintImmediately, print, printAll, printBorder, printChildren, printComponent, processComponentKeyEvent, processKeyBinding, processKeyEvent, processMouseEvent, processMouseMotionEvent, putClientProperty, registerKeyboardAction, registerKeyboardAction, removeAncestorListener, removeNotify, removeVetoableChangeListener, repaint, repaint, requestDefaultFocus, requestFocus, requestFocus, requestFocusInWindow, 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, setUI, setVerifyInputWhenFocusTarget, setVisible, unregisterKeyboardAction, updateadd, add, add, add, add, addContainerListener, addImpl, 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, processContainerEvent, processEvent, remove, remove, removeAll, removeContainerListener, setComponentZOrder, setFocusCycleRoot, setFocusTraversalPolicy, setFocusTraversalPolicyProvider, setLayout, transferFocusDownCycle, validate, validateTreeaction, add, addComponentListener, addFocusListener, addHierarchyBoundsListener, addHierarchyListener, addInputMethodListener, addKeyListener, addMouseListener, addMouseMotionListener, addMouseWheelListener, bounds, checkImage, checkImage, coalesceEvents, contains, createImage, createImage, createVolatileImage, createVolatileImage, disableEvents, dispatchEvent, enable, enableEvents, enableInputMethods, firePropertyChange, 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, processComponentEvent, processFocusEvent, processHierarchyBoundsEvent, processHierarchyEvent, processInputMethodEvent, processMouseWheelEvent, 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, transferFocusUpCyclepublic PointCloudViewer(double keyStepSize)
public PointCloudViewer(org.ejml.data.DMatrixRMaj K,
double keyStepSize)
public PointCloudViewer(boofcv.struct.calib.CameraPinholeRadial intrinsic,
double keyStepSize)
public void setWorldToCamera(georegression.struct.se.Se3_F64 worldToCamera)
public void configure(org.ejml.data.DMatrixRMaj K)
K - Intrinsic camera calibration matrix of rectified camerapublic void reset()
public void addPoint(double x,
double y,
double z,
int rgb)
public void paintComponent(java.awt.Graphics g)
paintComponent in class javax.swing.JComponentpublic void keyTyped(java.awt.event.KeyEvent e)
keyTyped in interface java.awt.event.KeyListenerpublic void keyPressed(java.awt.event.KeyEvent e)
keyPressed in interface java.awt.event.KeyListenerpublic void keyReleased(java.awt.event.KeyEvent e)
keyReleased in interface java.awt.event.KeyListenerpublic void mouseWheelMoved(java.awt.event.MouseWheelEvent e)
mouseWheelMoved in interface java.awt.event.MouseWheelListenerpublic void mouseClicked(java.awt.event.MouseEvent e)
mouseClicked in interface java.awt.event.MouseListenerpublic void mousePressed(java.awt.event.MouseEvent e)
mousePressed in interface java.awt.event.MouseListenerpublic void mouseReleased(java.awt.event.MouseEvent e)
mouseReleased in interface java.awt.event.MouseListenerpublic void mouseEntered(java.awt.event.MouseEvent e)
mouseEntered in interface java.awt.event.MouseListenerpublic void mouseExited(java.awt.event.MouseEvent e)
mouseExited in interface java.awt.event.MouseListenerpublic void mouseDragged(java.awt.event.MouseEvent e)
mouseDragged in interface java.awt.event.MouseMotionListenerpublic void mouseMoved(java.awt.event.MouseEvent e)
mouseMoved in interface java.awt.event.MouseMotionListener