Abstract method of reading vertexes and point clouds can now handle m…

…ultiple features assigned to a single point better
lessthanoptimal · Jun 23, 2024 · 2ca471c · 2ca471c
1 parent 0e1d6a4
commit 2ca471c
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Showing 14 changed files with 310 additions and 89 deletions.
diff --git a/applications/src/main/java/boofcv/app/MeshViewerApp.java b/applications/src/main/java/boofcv/app/MeshViewerApp.java
@@ -27,7 +27,6 @@
 import boofcv.struct.image.InterleavedU8;
 import boofcv.struct.mesh.VertexMesh;
 import org.apache.commons.io.FilenameUtils;
-import org.ddogleg.struct.DogArray_I32;
 
 import javax.swing.*;
 import java.awt.*;
@@ -49,7 +48,6 @@ public MeshViewerApp() {
 	private static void loadFile( File file ) {
 		// Load the mesh
 		var mesh = new VertexMesh();
-		var colors = new DogArray_I32();
 		String extension = FilenameUtils.getExtension(file.getName()).toLowerCase(Locale.ENGLISH);
 		var type = switch (extension) {
 			case "ply" -> PointCloudIO.Format.PLY;
@@ -61,7 +59,7 @@ private static void loadFile( File file ) {
 		};
 
 		try (var input = new FileInputStream(file)) {
-			PointCloudIO.load(type, input, mesh, colors);
+			PointCloudIO.load(type, input, mesh);
 		} catch (IOException e) {
 			e.printStackTrace(System.err);
 			System.exit(1);
@@ -86,8 +84,8 @@ private static void loadFile( File file ) {
 		SwingUtilities.invokeLater(() -> {
 			var panel = new MeshViewerPanel();
 			panel.setMesh(mesh, false);
-			if (colors.size > 0)
-				panel.setVertexColors("RGB", colors.data);
+			if (mesh.rgb.size > 0)
+				panel.setVertexColors("RGB", mesh.rgb.data);
 			if (_image != null)
 				panel.setTextureImage(_image);
 			panel.setPreferredSize(new Dimension(500, 500));

diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/cloud/DisparityToColorPointCloud.java b/main/boofcv-geo/src/main/java/boofcv/alg/cloud/DisparityToColorPointCloud.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -175,7 +175,10 @@ private void process( GrayU8 disparity, ColorImage color, PointCloudWriter outpu
 				// Bring it back into left camera frame
 				GeometryMath_F32.multTran(rectifiedR, p, p);
 
-				output.add(p.x, p.y, p.z, getColor(color, pixelX, pixelY));
+				output.startPoint();
+				output.location(p.x, p.y, p.z);
+				output.color(getColor(color, pixelX, pixelY));
+				output.stopPoint();
 			}
 		}
 	}
@@ -217,7 +220,10 @@ private void process( GrayF32 disparity, ColorImage color, PointCloudWriter outp
 				// Bring it back into left camera frame
 				GeometryMath_F32.multTran(rectifiedR, p, p);
 
-				output.add(p.x, p.y, p.z, getColor(color, pixelX, pixelY));
+				output.startPoint();
+				output.location(p.x, p.y, p.z);
+				output.color(getColor(color, pixelX, pixelY));
+				output.stopPoint();
 			}
 		}
 	}

diff --git a/main/boofcv-geo/src/main/java/boofcv/alg/cloud/PointCloudWriter.java b/main/boofcv-geo/src/main/java/boofcv/alg/cloud/PointCloudWriter.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2022, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -40,10 +40,21 @@ public interface PointCloudWriter {
 	 */
 	void initialize( int size, boolean hasColor );
 
+	/** A new point is being added with new attributes to follow */
+	void startPoint();
+
+	/** It's done specifying attributes for the point */
+	void stopPoint();
+
 	/**
-	 * Adds a 3D point with color information
+	 * Set the 3D location of the point
 	 */
-	void add( double x, double y, double z, int rgb );
+	void location( double x, double y, double z );
+
+	/**
+	 * Sets the points color
+	 */
+	void color( int rgb );
 
 	class CloudArraysF32 implements PointCloudWriter {
 		// Storage for point cloud
@@ -57,10 +68,17 @@ class CloudArraysF32 implements PointCloudWriter {
 			cloudXyz.reserve(size*3);
 		}
 
-		@Override public void add( double x, double y, double z, int rgb ) {
+		@Override public void startPoint() {}
+
+		@Override public void stopPoint() {}
+
+		@Override public void location( double x, double y, double z ) {
 			cloudXyz.add((float)x);
 			cloudXyz.add((float)y);
 			cloudXyz.add((float)z);
+		}
+
+		@Override public void color( int rgb ) {
 			cloudRgb.add(rgb);
 		}
 
@@ -79,10 +97,15 @@ static PointCloudWriter wrapF32( DogArray<Point3D_F32> cloud ) {
 				cloud.reset();
 			}
 
-			@Override
-			public void add( double x, double y, double z, int rgb ) {
+			@Override public void startPoint() {}
+
+			@Override public void stopPoint() {}
+
+			@Override public void location( double x, double y, double z ) {
 				cloud.grow().setTo((float)x, (float)y, (float)z);
 			}
+
+			@Override public void color( int rgb ) {}
 		};
 	}
 
@@ -93,8 +116,13 @@ static PointCloudWriter wrapF64( DogArray<Point3D_F64> cloud ) {
 				cloud.reset();
 			}
 
-			@Override
-			public void add( double x, double y, double z, int rgb ) {
+			@Override public void startPoint() {}
+
+			@Override public void stopPoint() {}
+
+			@Override public void color( int rgb ) {}
+
+			@Override public void location( double x, double y, double z ) {
 				cloud.grow().setTo(x, y, z);
 			}
 		};
@@ -107,9 +135,18 @@ static PointCloudWriter wrapF32RGB( DogArray<Point3dRgbI_F32> cloud ) {
 				cloud.reset();
 			}
 
-			@Override
-			public void add( double x, double y, double z, int rgb ) {
-				cloud.grow().setTo((float)x, (float)y, (float)z, rgb);
+			@Override public void startPoint() {
+				cloud.grow();
+			}
+
+			@Override public void stopPoint() {}
+
+			@Override public void location( double x, double y, double z ) {
+				cloud.getTail().setTo((float)x, (float)y, (float)z);
+			}
+
+			@Override public void color( int rgb ) {
+				cloud.getTail().rgb = rgb;
 			}
 		};
 	}
@@ -120,9 +157,18 @@ static PointCloudWriter wrapF64RGB( DogArray<Point3dRgbI_F64> cloud ) {
 				cloud.reset();
 			}
 
-			@Override
-			public void add( double x, double y, double z, int rgb ) {
-				cloud.grow().setTo(x, y, z, rgb);
+			@Override public void startPoint() {
+				cloud.grow();
+			}
+
+			@Override public void stopPoint() {}
+
+			@Override public void location( double x, double y, double z ) {
+				cloud.getTail().setTo(x, y, z);
+			}
+
+			@Override public void color( int rgb ) {
+				cloud.getTail().rgb = rgb;
 			}
 		};
 	}

diff --git a/main/boofcv-geo/src/test/java/boofcv/alg/cloud/TestPointCloudWriter.java b/main/boofcv-geo/src/test/java/boofcv/alg/cloud/TestPointCloudWriter.java
@@ -1,5 +1,5 @@
 /*
- * Copyright (c) 2023, Peter Abeles. All Rights Reserved.
+ * Copyright (c) 2024, Peter Abeles. All Rights Reserved.
  *
  * This file is part of BoofCV (http://boofcv.org).
  *
@@ -35,32 +35,41 @@ class TestPointCloudWriter extends BoofStandardJUnit {
 
 	static abstract class PcwTests {
 		boolean supportsColor = true;
+
 		public abstract PointCloudWriter create();
+
 		public abstract int size( PointCloudWriter data );
-		public abstract Point3D_F64 getPoint(PointCloudWriter data , int i );
-		public abstract int getColor(PointCloudWriter data , int i);
+
+		public abstract Point3D_F64 getPoint( PointCloudWriter data, int i );
+
+		public abstract int getColor( PointCloudWriter data, int i );
 
 		@Test
 		void simpleXyzColor() {
 			PointCloudWriter alg = create();
 
-			assertEquals(0,size(alg));
-			alg.add(0,1,2, 345);
-			assertEquals(1,size(alg));
-			alg.add(2,1,3,3434);
-			assertEquals(2,size(alg));
-
-			if( supportsColor ) {
+			assertEquals(0, size(alg));
+			alg.startPoint();
+			alg.location(0, 1, 2);
+			alg.color(345);
+			alg.stopPoint();
+			assertEquals(1, size(alg));
+			alg.startPoint();
+			alg.location(2, 1, 3);
+			alg.color(3434);
+			alg.stopPoint();
+			assertEquals(2, size(alg));
+
+			if (supportsColor) {
 				assertEquals(345, getColor(alg, 0));
 				assertEquals(3434, getColor(alg, 1));
 			}
 
-			Point3D_F64 found = getPoint(alg,1);
-			assertEquals(2,found.x, UtilEjml.TEST_F64);
-			assertEquals(1,found.y, UtilEjml.TEST_F64);
-			assertEquals(3,found.z, UtilEjml.TEST_F64);
+			Point3D_F64 found = getPoint(alg, 1);
+			assertEquals(2, found.x, UtilEjml.TEST_F64);
+			assertEquals(1, found.y, UtilEjml.TEST_F64);
+			assertEquals(3, found.z, UtilEjml.TEST_F64);
 		}
-
 	}
 
 	@Nested
@@ -72,18 +81,18 @@ public PointCloudWriter create() {
 		}
 
 		@Override
-		public int size(PointCloudWriter data) {
+		public int size( PointCloudWriter data ) {
 			return ((CloudArraysF32)data).cloudXyz.size/3;
 		}
 
 		@Override
-		public Point3D_F64 getPoint(PointCloudWriter data, int i) {
+		public Point3D_F64 getPoint( PointCloudWriter data, int i ) {
 			var list = ((CloudArraysF32)data).cloudXyz;
-			return new Point3D_F64( list.get(i*3), list.get(i*3+1), list.get(i*3+2));
+			return new Point3D_F64(list.get(i*3), list.get(i*3 + 1), list.get(i*3 + 2));
 		}
 
 		@Override
-		public int getColor(PointCloudWriter data, int i) {
+		public int getColor( PointCloudWriter data, int i ) {
 			var list = ((CloudArraysF32)data).cloudRgb;
 			return list.get(i);
 		}
@@ -102,18 +111,18 @@ public PointCloudWriter create() {
 		}
 
 		@Override
-		public int size(PointCloudWriter data) {
+		public int size( PointCloudWriter data ) {
 			return cloud.size;
 		}
 
 		@Override
-		public Point3D_F64 getPoint(PointCloudWriter data, int i) {
+		public Point3D_F64 getPoint( PointCloudWriter data, int i ) {
 			Point3D_F32 c = cloud.get(i);
-			return new Point3D_F64( c.x, c.y, c.z);
+			return new Point3D_F64(c.x, c.y, c.z);
 		}
 
 		@Override
-		public int getColor(PointCloudWriter data, int i) {
+		public int getColor( PointCloudWriter data, int i ) {
 			throw new RuntimeException("Not supported");
 		}
 	}
@@ -131,17 +140,17 @@ public PointCloudWriter create() {
 		}
 
 		@Override
-		public int size(PointCloudWriter data) {
+		public int size( PointCloudWriter data ) {
 			return cloud.size;
 		}
 
 		@Override
-		public Point3D_F64 getPoint(PointCloudWriter data, int i) {
+		public Point3D_F64 getPoint( PointCloudWriter data, int i ) {
 			return cloud.get(i);
 		}
 
 		@Override
-		public int getColor(PointCloudWriter data, int i) {
+		public int getColor( PointCloudWriter data, int i ) {
 			throw new RuntimeException("Not supported");
 		}
 	}
@@ -158,18 +167,18 @@ public PointCloudWriter create() {
 		}
 
 		@Override
-		public int size(PointCloudWriter data) {
+		public int size( PointCloudWriter data ) {
 			return cloud.size;
 		}
 
 		@Override
-		public Point3D_F64 getPoint(PointCloudWriter data, int i) {
+		public Point3D_F64 getPoint( PointCloudWriter data, int i ) {
 			Point3D_F32 c = cloud.get(i);
-			return new Point3D_F64( c.x, c.y, c.z);
+			return new Point3D_F64(c.x, c.y, c.z);
 		}
 
 		@Override
-		public int getColor(PointCloudWriter data, int i) {
+		public int getColor( PointCloudWriter data, int i ) {
 			return cloud.get(i).rgb;
 		}
 	}
@@ -186,19 +195,18 @@ public PointCloudWriter create() {
 		}
 
 		@Override
-		public int size(PointCloudWriter data) {
+		public int size( PointCloudWriter data ) {
 			return cloud.size;
 		}
 
 		@Override
-		public Point3D_F64 getPoint(PointCloudWriter data, int i) {
+		public Point3D_F64 getPoint( PointCloudWriter data, int i ) {
 			return cloud.get(i);
 		}
 
 		@Override
-		public int getColor(PointCloudWriter data, int i) {
+		public int getColor( PointCloudWriter data, int i ) {
 			return cloud.get(i).rgb;
 		}
 	}
-
 }