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Commit d331a5c5 authored by Nicolas Pope's avatar Nicolas Pope
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Draw filled poly

parent 1909d7d4
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components/renderers/cpp/include/ftl/render/overlay.hpp
+ 8
− 0
View file @ d331a5c5
......@@ -55,6 +55,14 @@ void drawBox(
const cv::Scalar &linecolour,
const Eigen::Vector3d &size);
void drawFilledBox(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
cv::Mat &depth,
const Eigen::Matrix4d &pose,
const cv::Scalar &linecolour,
const Eigen::Vector3d &size);
void drawRectangle(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
......
......
components/renderers/cpp/src/overlay.cpp
+ 102
− 6
View file @ d331a5c5
......@@ -43,8 +43,9 @@ void Overlay::apply(ftl::rgbd::FrameSet &fs, cv::Mat &out, ftl::rgbd::FrameState
Eigen::Vector4d pos = pose.inverse() * Eigen::Vector4d(0,0,0,1);
pos /= pos[3];
ftl::overlay::drawFilledBox(state.getLeft(), out, over_depth_, pose, cv::Scalar(0,0,255,100), 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(0,0,255,255));
ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,100));
}
}
......@@ -58,14 +59,14 @@ void Overlay::apply(ftl::rgbd::FrameSet &fs, cv::Mat &out, ftl::rgbd::FrameState
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(0,0,255,255), s.size.cast<double>());
ftl::overlay::drawText(state.getLeft(), out, over_depth_, s.label, pos, 0.5, cv::Scalar(0,0,255,255));
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));
}
}
}
}
cv::flip(out, out, 0);
//cv::flip(out, out, 0);
}
void ftl::overlay::draw3DLine(
......@@ -80,7 +81,7 @@ void ftl::overlay::draw3DLine(
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, colour.rows-begin_pos.y), cv::Point(end_pos.x, colour.rows-end_pos.y));
cv::LineIterator lineit(colour, cv::Point(begin_pos.x, begin_pos.y), cv::Point(end_pos.x, end_pos.y));
double z_grad = (end[2] - begin[2]) / lineit.count;
double current_z = begin[2];
......@@ -189,6 +190,101 @@ void ftl::overlay::drawBox(
draw3DLine(cam, colour, depth, p011, p111, linecolour);
}
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);
}
void ftl::overlay::drawRectangle(
const ftl::rgbd::Camera &cam,
cv::Mat &colour,
......
......
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