shithub: libvpx

ref: aecad5a3131dc0a0ab427c50fdcb70eba22740e3
dir: /tools/3D-Reconstruction/sketch_3D_reconstruction/PointCloud.pde/

class PointCloud {
  ArrayList<PVector> points;  // array to save points
  IntList point_colors;       // array to save points color
  PVector cloud_mass;
  PointCloud() {
    // initialize
    points = new ArrayList<PVector>();
    point_colors = new IntList();
    cloud_mass = new PVector(0, 0, 0);
  }

  void generate(PImage rgb, PImage depth, Transform trans) {
    for (int v = 0; v < depth.height; v++)
      for (int u = 0; u < depth.width; u++) {
        // get depth value (red channel)
        color depth_px = depth.get(u, v);
        int d = depth_px & 0x0000FFFF;
        // only transform the pixel whose depth is not 0
        if (d > 0) {
          // add transformed pixel as well as pixel color to the list
          PVector pos = trans.transform(u, v, d);
          points.add(pos);
          point_colors.append(rgb.get(u, v));
          // accumulate z value
          cloud_mass = PVector.add(cloud_mass, pos);
        }
      }
  }

  PVector getCloudCenter() {
    if (points.size() > 0) return PVector.div(cloud_mass, points.size());
    return new PVector(0, 0, 0);
  }

  void render() {
    for (int i = 0; i < points.size(); i++) {
      PVector v = points.get(i);
      stroke(point_colors.get(i));
      point(v.x, v.y, v.z);
    }
  }
}