From b5a98c0eba0a6f08c5d39d08325ed51dda4d2832 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Sat, 16 May 2020 17:39:20 +0300
Subject: [PATCH] Draw camera shapes properly
---
components/renderers/cpp/src/overlay.cpp | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/components/renderers/cpp/src/overlay.cpp b/components/renderers/cpp/src/overlay.cpp
index 9ea3af5ed..7054c275a 100644
--- a/components/renderers/cpp/src/overlay.cpp
+++ b/components/renderers/cpp/src/overlay.cpp
@@ -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);
- _drawOutlinedShape(Shape::BOX, state.getPose().inverse() * pose, scale, make_uchar4(255,0,255,80), make_uchar4(255,0,255,255));
+ 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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