Skip to content
Snippets Groups Projects
Commit d331a5c5 authored by Nicolas Pope's avatar Nicolas Pope
Browse files

Draw filled poly

parent 1909d7d4
No related branches found
No related tags found
No related merge requests found
Hide whitespace changes
Inline Side-by-side
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::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::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(0,0,255,100));
}
}
......@@ -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,
......
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment