Newer
Older
#include <ftl/codecs/shapes.hpp>
#define LOGURU_REPLACE_GLOG 1
#include <loguru.hpp>
using ftl::overlay::Overlay;
using ftl::codecs::Channel;
namespace {
constexpr char const *const overlayVertexShader =
R"(#version 330
in vec3 vertex;
uniform float focal;
uniform float width;
uniform float height;
uniform float far;
uniform float near;
uniform mat4 pose;
uniform vec3 scale;
void main() {
vec4 vert = pose*(vec4(scale*vertex,1.0));
vert = vert / vert.w;
vec4 pos = vec4(-vert.x*focal / -vert.z / (width/2.0),
vert.y*focal / -vert.z / (height/2.0),
(vert.z-near) / (far-near) * 2.0 - 1.0, 1.0);
gl_Position = pos;
})";
constexpr char const *const overlayFragmentShader =
R"(#version 330
uniform vec4 blockColour;
out vec4 color;
void main() {
color = blockColour;
})";
}
Overlay::Overlay(nlohmann::json &config) : ftl::Configurable(config) {
init_ = false;
void Overlay::_createShapes() {
shape_verts_ = {
// Box
{-1.0, -1.0, -1.0},
{1.0, -1.0, -1.0},
{1.0, 1.0, -1.0},
{-1.0, 1.0, -1.0},
{-1.0, -1.0, 1.0},
{1.0, -1.0, 1.0},
{1.0, 1.0, 1.0},
{-1.0, 1.0, 1.0},
// Camera
{0.0, 0.0, 0.0}, // 8
{0.5, 0.28, 0.5},
{0.5, -0.28, 0.5},
{-0.5, 0.28, 0.5},
{-0.5, -0.28, 0.5},
// Plane XZ big
{-10.0, 0.0, -10.0}, // 13
{10.0, 0.0, -10.0},
{10.0, 0.0, 10.0},
{-10.0, 0.0, 10.0}
// Generate a big plane
for (int x=-9; x<=9; ++x) {
shape_verts_.push_back({float(x), 0.0, -10.0});
shape_verts_.push_back({float(x), 0.0, 10.0});
shape_verts_.push_back({-10.0, 0.0, float(x)});
shape_verts_.push_back({10.0, 0.0, float(x)});
}
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
shape_tri_indices_ = {
// Box
0, 1, 2,
0, 2, 3,
1, 5, 6,
1, 6, 2,
0, 4, 7,
0, 7, 3,
3, 2, 6,
3, 6, 7,
0, 1, 5,
0, 5, 4,
// Box Lines
0, 1, // 30
1, 5,
5, 6,
6, 2,
2, 1,
2, 3,
3, 0,
3, 7,
7, 4,
4, 5,
6, 7,
0, 4,
// Camera
8, 9, 10, // 54
8, 11, 12,
8, 9, 11,
8, 10, 12,
// Camera Lines
8, 9, // 66
8, 10,
8, 11,
8, 12,
9, 10,
11, 12,
9, 11,
10, 12,
// Big XZ Plane
13, 14, 15, // 82
15, 16, 13
int i = 17;
for (int x=-10; x<=10; ++x) {
shape_tri_indices_.push_back(i++);
shape_tri_indices_.push_back(i++);
shape_tri_indices_.push_back(i++);
shape_tri_indices_.push_back(i++);
}
shapes_[Shape::BOX] = {0,30, 30, 12*2};
shapes_[Shape::CAMERA] = {54, 4*3, 66, 8*2};
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
oShader.uploadAttrib("vertex", sizeof(float3)*shape_verts_.size(), 3, sizeof(float), GL_FLOAT, false, shape_verts_.data());
oShader.uploadAttrib ("indices", sizeof(int)*shape_tri_indices_.size(), 1, sizeof(int), GL_UNSIGNED_INT, true, shape_tri_indices_.data());
}
void Overlay::_drawFilledShape(Shape shape, const Eigen::Matrix4d &pose, float scale, uchar4 c) {
if (shapes_.find(shape) ==shapes_.end()) {
return;
}
Eigen::Matrix4f mv = pose.cast<float>();
auto [offset,count, loffset, lcount] = shapes_[shape];
oShader.setUniform("scale", scale);
oShader.setUniform("pose", mv);
oShader.setUniform("blockColour", Eigen::Vector4f(float(c.x)/255.0f,float(c.y)/255.0f,float(c.z)/255.0f,float(c.w)/255.0f));
//oShader.drawIndexed(GL_TRIANGLES, offset, count);
glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
(const void *)(offset * sizeof(uint32_t)));
}
void Overlay::_drawOutlinedShape(Shape shape, const Eigen::Matrix4d &pose, const Eigen::Vector3f &scale, uchar4 fill, uchar4 outline) {
if (shapes_.find(shape) ==shapes_.end()) {
return;
}
Eigen::Matrix4f mv = pose.cast<float>();
auto [offset,count,loffset,lcount] = shapes_[shape];
oShader.setUniform("scale", scale);
oShader.setUniform("pose", mv);
oShader.setUniform("blockColour", Eigen::Vector4f(float(fill.x)/255.0f,float(fill.y)/255.0f,float(fill.z)/255.0f,float(fill.w)/255.0f));
//oShader.drawIndexed(GL_TRIANGLES, offset, count);
glDrawElements(GL_TRIANGLES, (GLsizei) count, GL_UNSIGNED_INT,
(const void *)(offset * sizeof(uint32_t)));
if (lcount != 0) {
oShader.setUniform("blockColour", Eigen::Vector4f(float(outline.x)/255.0f,float(outline.y)/255.0f,float(outline.z)/255.0f,float(outline.w)/255.0f));
//oShader.drawIndexed(GL_LINE_LOOP, offset, count);
glDrawElements(GL_LINES, (GLsizei) lcount, GL_UNSIGNED_INT,
(const void *)(loffset * sizeof(uint32_t)));
}
}
void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const Eigen::Vector2f &screenSize) {
double zfar = 8.0f;
auto intrin = state.getLeft();
intrin = intrin.scaled(screenSize[0], screenSize[1]);
if (!init_) {
oShader.init("OverlayShader", overlayVertexShader, overlayFragmentShader);
oShader.bind();
_createShapes();
init_ = true;
} else {
oShader.bind();
}
float3 tris[] = {
{0.5f, -0.7f, 2.0f},
{0.2f, -0.5f, 2.0f},
{0.8f, -0.4f, 2.0f}
};
auto pose = MatrixConversion::toCUDA(state.getPose().cast<float>().inverse());
tris[0] = pose * tris[0];
tris[1] = pose * tris[1];
tris[2] = pose * tris[2];
glFlush();
glDepthMask(GL_FALSE);
glEnable( GL_BLEND );
glBlendEquation( GL_FUNC_ADD );
glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_LINE_SMOOTH);
oShader.setUniform("focal", intrin.fx);
oShader.setUniform("width", float(intrin.width));
oShader.setUniform("height", float(intrin.height));
oShader.setUniform("far", zfar);
oShader.setUniform("near", 0.0f); // TODO: but make sure CUDA depth is also normalised like this
/*oShader.setUniform("blockColour", Eigen::Vector4f(1.0f,1.0f,0.0f,0.5f));
oShader.uploadAttrib("vertex", sizeof(tris), 3, sizeof(float), GL_FLOAT, false, tris);
oShader.drawArray(GL_TRIANGLES, 0, 3);
oShader.setUniform("blockColour", Eigen::Vector4f(1.0f,1.0f,0.0f,1.0f));
//oShader.uploadAttrib("vertex", sizeof(tris), 3, sizeof(float), GL_FLOAT, false, tris);
oShader.drawArray(GL_LINE_LOOP, 0, 3);*/
//glFinish();
if (value("show_poses", false)) {
for (size_t i=0; i<fs.frames.size(); ++i) {
auto pose = fs.frames[i].getPose(); //.inverse() * state.getPose();
auto name = fs.frames[i].get<std::string>("name");
_drawOutlinedShape(Shape::CAMERA, state.getPose().inverse() * pose, Eigen::Vector3f(0.2f,0.2f,0.2f), make_uchar4(255,0,0,80), make_uchar4(255,0,0,255));
//ftl::overlay::drawCamera(state.getLeft(), out, over_depth_, fs.frames[i].getLeftCamera(), pose, cv::Scalar(0,0,255,255), 0.2,value("show_frustrum", false));
//if (name) ftl::overlay::drawText(state.getLeft(), out, over_depth_, *name, pos, 0.5, cv::Scalar(0,0,255,255));
if (value("show_xz_plane", true)) {
_drawOutlinedShape(Shape::XZPLANE, state.getPose().inverse(), Eigen::Vector3f(1.0f,1.0f,1.0f), make_uchar4(200,200,200,50), make_uchar4(255,255,255,100));
}
if (value("show_shapes", false)) {
if (fs.hasChannel(Channel::Shapes3D)) {
std::vector<ftl::codecs::Shape3D> shapes;
fs.get(Channel::Shapes3D, shapes);
for (auto &s : shapes) {
auto pose = s.pose.cast<double>();
//Eigen::Vector4d pos = pose.inverse() * Eigen::Vector4d(0,0,0,1);
//pos /= pos[3];
Eigen::Vector3f scale(s.size[0]/2.0f, s.size[1]/2.0f, s.size[2]/2.0f);
_drawOutlinedShape(Shape::BOX, state.getPose().inverse() * pose, scale, make_uchar4(255,0,255,80), make_uchar4(255,0,255,255));
//ftl::overlay::drawFilledBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,50), s.size.cast<double>());
//ftl::overlay::drawBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,255), s.size.cast<double>());
//ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,100));
}
}
for (size_t i=0; i<fs.frames.size(); ++i) {
if (fs.frames[i].hasChannel(Channel::Shapes3D)) {
std::vector<ftl::codecs::Shape3D> shapes;
fs.frames[i].get(Channel::Shapes3D, shapes);
for (auto &s : shapes) {
auto pose = s.pose.cast<double>().inverse() * state.getPose();
Eigen::Vector4d pos = pose.inverse() * Eigen::Vector4d(0,0,0,1);
pos /= pos[3];
//ftl::overlay::drawBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,100), s.size.cast<double>());
//ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,100));
glDisable(GL_LINE_SMOOTH);
glDisable(GL_BLEND);
void ftl::overlay::draw3DLine(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Vector4d &begin,
const Eigen::Vector4d &end,
const cv::Scalar &linecolour) {
auto begin_pos = cam.camToScreen<int2>(make_float3(begin[0], begin[1], begin[2]));
auto end_pos = cam.camToScreen<int2>(make_float3(end[0], end[1], end[2]));
cv::LineIterator lineit(colour, cv::Point(begin_pos.x, begin_pos.y), cv::Point(end_pos.x, end_pos.y));
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
double z_grad = (end[2] - begin[2]) / lineit.count;
double current_z = begin[2];
for(int i = 0; i < lineit.count; i++, ++lineit) {
colour.at<cv::Vec4b>(lineit.pos()) = linecolour;
depth.at<float>(lineit.pos()) = current_z;
current_z += z_grad;
}
}
void ftl::overlay::drawPoseBox(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
double size) {
double size2 = size/2.0;
Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2,size2,-size2,1);
Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2,-size2,-size2,1);
Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2,-size2,-size2,1);
Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2,size2,-size2,1);
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2,-size2,size2,1);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2,size2,size2,1);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2,-size2,size2,1);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2,size2,size2,1);
p001 /= p001[3];
p011 /= p011[3];
p111 /= p111[3];
p101 /= p101[3];
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
draw3DLine(cam, colour, depth, p000, p001, linecolour);
draw3DLine(cam, colour, depth, p000, p010, linecolour);
draw3DLine(cam, colour, depth, p000, p100, linecolour);
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
draw3DLine(cam, colour, depth, p001, p011, linecolour);
draw3DLine(cam, colour, depth, p001, p101, linecolour);
draw3DLine(cam, colour, depth, p010, p011, linecolour);
draw3DLine(cam, colour, depth, p010, p110, linecolour);
draw3DLine(cam, colour, depth, p100, p101, linecolour);
draw3DLine(cam, colour, depth, p100, p110, linecolour);
draw3DLine(cam, colour, depth, p101, p111, linecolour);
draw3DLine(cam, colour, depth, p110, p111, linecolour);
draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
void ftl::overlay::drawBox(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
const Eigen::Vector3d &size) {
double size2x = size[0]/2.0;
double size2y = size[1]/2.0;
double size2z = size[2]/2.0;
Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2x,size2y,-size2z,1);
Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,-size2z,1);
Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,-size2z,1);
Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,-size2z,1);
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,size2z,1);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,size2z,1);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,size2z,1);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2x,size2y,size2z,1);
p001 /= p001[3];
p011 /= p011[3];
p111 /= p111[3];
p101 /= p101[3];
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
draw3DLine(cam, colour, depth, p000, p001, linecolour);
draw3DLine(cam, colour, depth, p000, p010, linecolour);
draw3DLine(cam, colour, depth, p000, p100, linecolour);
draw3DLine(cam, colour, depth, p001, p011, linecolour);
draw3DLine(cam, colour, depth, p001, p101, linecolour);
draw3DLine(cam, colour, depth, p010, p011, linecolour);
draw3DLine(cam, colour, depth, p010, p110, linecolour);
draw3DLine(cam, colour, depth, p100, p101, linecolour);
draw3DLine(cam, colour, depth, p100, p110, linecolour);
draw3DLine(cam, colour, depth, p101, p111, linecolour);
draw3DLine(cam, colour, depth, p110, p111, linecolour);
draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
void ftl::overlay::drawFilledBox(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
const Eigen::Vector3d &size) {
double size2x = size[0]/2.0;
double size2y = size[1]/2.0;
double size2z = size[2]/2.0;
Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(size2x,size2y,-size2z,1);
Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,-size2z,1);
Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,-size2z,1);
Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,-size2z,1);
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2x,-size2y,size2z,1);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2x,size2y,size2z,1);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2x,-size2y,size2z,1);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2x,size2y,size2z,1);
p001 /= p001[3];
p011 /= p011[3];
p111 /= p111[3];
p101 /= p101[3];
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
std::array<cv::Point, 4> pts;
auto p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p000[0], p000[1], p000[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p001[0], p001[1], p001[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p101[0], p101[1], p101[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p100[0], p100[1], p100[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
p = cam.camToScreen<int2>(make_float3(p010[0], p010[1], p010[2]));
pts[0] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p011[0], p011[1], p011[2]));
pts[1] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p111[0], p111[1], p111[2]));
pts[2] = cv::Point(p.x, p.y);
p = cam.camToScreen<int2>(make_float3(p110[0], p110[1], p110[2]));
pts[3] = cv::Point(p.x, p.y);
cv::fillConvexPoly(colour, pts, linecolour);
}
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
void ftl::overlay::drawRectangle(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
double width, double height) {
double width2 = width/2.0;
double height2 = height/2.0;
Eigen::Vector4d p001 = pose.inverse() * Eigen::Vector4d(width2,height2,0,1);
Eigen::Vector4d p011 = pose.inverse() * Eigen::Vector4d(width2,-height2,0,1);
Eigen::Vector4d p111 = pose.inverse() * Eigen::Vector4d(-width2,-height2,0,1);
Eigen::Vector4d p101 = pose.inverse() * Eigen::Vector4d(-width2,height2,0,1);
p001 /= p001[3];
p011 /= p011[3];
p111 /= p111[3];
p101 /= p101[3];
if (p001[2] < 0.1 || p011[2] < 0.1 || p111[2] < 0.1 || p101[2] < 0.1) return;
draw3DLine(cam, colour, depth, p001, p011, linecolour);
draw3DLine(cam, colour, depth, p001, p101, linecolour);
draw3DLine(cam, colour, depth, p101, p111, linecolour);
draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
void ftl::overlay::drawPoseCone(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
double size) {
double size2 = size;
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(-size2,-size2,size2,1);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(-size2,size2,size2,1);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(size2,-size2,size2,1);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(size2,size2,size2,1);
Eigen::Vector4d origin = pose.inverse() * Eigen::Vector4d(0,0,0,1);
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
origin /= origin[3];
if (origin[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
draw3DLine(cam, colour, depth, p000, origin, linecolour);
draw3DLine(cam, colour, depth, p000, p010, linecolour);
draw3DLine(cam, colour, depth, p000, p100, linecolour);
draw3DLine(cam, colour, depth, p010, origin, linecolour);
draw3DLine(cam, colour, depth, p010, p110, linecolour);
draw3DLine(cam, colour, depth, p100, origin, linecolour);
draw3DLine(cam, colour, depth, p100, p110, linecolour);
draw3DLine(cam, colour, depth, p110, origin, linecolour);
}
void ftl::overlay::drawCamera(
const ftl::rgbd::Camera &vcam,
cv::Mat &colour,
cv::Mat &depth,
const ftl::rgbd::Camera &camera,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
//double size2 = size;
const auto ¶ms = camera;
double width = (static_cast<double>(params.width) / static_cast<double>(params.fx)) * scale;
double height = (static_cast<double>(params.height) / static_cast<double>(params.fx)) * scale;
double width2 = width / 2.0;
double height2 = height / 2.0;
double principx = (((static_cast<double>(params.width) / 2.0) + params.cx) / static_cast<double>(params.fx)) * scale;
double principy = (((static_cast<double>(params.height) / 2.0) + params.cy) / static_cast<double>(params.fx)) * scale;
auto ptcoord = params.screenToCam(0,0,scale);
Eigen::Vector4d p110 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(0,params.height,scale);
Eigen::Vector4d p100 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(params.width,0,scale);
Eigen::Vector4d p010 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(params.width,params.height,scale);
Eigen::Vector4d p000 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
Eigen::Vector4d origin = pose.inverse() * Eigen::Vector4d(0,0,0,1);
p110 /= p110[3];
p100 /= p100[3];
p010 /= p010[3];
p000 /= p000[3];
origin /= origin[3];
if (origin[2] < 0.1 || p110[2] < 0.1 || p100[2] < 0.1 || p010[2] < 0.1 || p000[2] < 0.1) return;
draw3DLine(vcam, colour, depth, p000, origin, linecolour);
draw3DLine(vcam, colour, depth, p000, p010, linecolour);
draw3DLine(vcam, colour, depth, p000, p100, linecolour);
draw3DLine(vcam, colour, depth, p010, origin, linecolour);
draw3DLine(vcam, colour, depth, p010, p110, linecolour);
draw3DLine(vcam, colour, depth, p100, origin, linecolour);
draw3DLine(vcam, colour, depth, p100, p110, linecolour);
draw3DLine(vcam, colour, depth, p110, origin, linecolour);
if (frustrum) {
const double fscale = 16.0;
ptcoord = params.screenToCam(0,0,fscale);
Eigen::Vector4d f110 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(0,params.height,fscale);
Eigen::Vector4d f100 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(params.width,0,fscale);
Eigen::Vector4d f010 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
ptcoord = params.screenToCam(params.width,params.height,fscale);
Eigen::Vector4d f000 = pose.inverse() * Eigen::Vector4d(ptcoord.x,ptcoord.y,ptcoord.z,1);
f110 /= f110[3];
f100 /= f100[3];
f010 /= f010[3];
f000 /= f000[3];
if (f110[2] < 0.1 || f100[2] < 0.1 || f010[2] < 0.1 || f000[2] < 0.1) return;
draw3DLine(vcam, colour, depth, f000, p000, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f010, p010, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f100, p100, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f110, p110, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f000, f010, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f000, f100, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f010, f110, cv::Scalar(0,255,0,0));
draw3DLine(vcam, colour, depth, f100, f110, cv::Scalar(0,255,0,0));
}
void ftl::overlay::drawText(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const std::string &text,
const Eigen::Vector4d &pos,
double size,
const cv::Scalar &textcolour) {
auto pt = cam.camToScreen<int2>(make_float3(pos[0], pos[1], pos[2]));
if (pos[2] < 0.1) return;
cv::putText(colour, text, cv::Point(pt.x, colour.rows-pt.y), 0, size, textcolour, 1, cv::LINE_8, true);
}