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Commit b5a98c0e authored by Nicolas Pope's avatar Nicolas Pope
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Draw camera shapes properly

parent 986df882
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Pipeline #26490 passed
......@@ -327,7 +327,15 @@ void Overlay::draw(ftl::rgbd::FrameSet &fs, ftl::rgbd::FrameState &state, const
Eigen::Vector3f scale(s.size[0]/2.0f, s.size[1]/2.0f, s.size[2]/2.0f);
if (s.type == ftl::codecs::Shape3DType::CAMERA) {
//auto pose = s.pose;
auto name = s.label;
_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));
_drawAxis(state.getPose().inverse() * pose, Eigen::Vector3f(0.2f, 0.2f, 0.2f));
} else {
_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));
......
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