From d7924498fd450e97fe4ee27bf07ed7fc2a69b205 Mon Sep 17 00:00:00 2001
From: Nicolas Pope <nwpope@utu.fi>
Date: Fri, 31 Jan 2020 13:36:22 +0200
Subject: [PATCH] Face moving camera
---
applications/gui/src/camera.cpp | 27 +++++++++++++++++++++++++++
1 file changed, 27 insertions(+)
diff --git a/applications/gui/src/camera.cpp b/applications/gui/src/camera.cpp
index de1518695..615cdd86f 100644
--- a/applications/gui/src/camera.cpp
+++ b/applications/gui/src/camera.cpp
@@ -235,6 +235,33 @@ void ftl::gui::Camera::draw(std::vector<ftl::rgbd::FrameSet*> &fss) {
UNIQUE_LOCK(fs.mtx,lk);
UNIQUE_LOCK(mutex_, lk2);
_draw(fs);
+
+ for (auto *fset : fss) {
+ for (const auto &f : fset->frames) {
+ if (f.hasChannel(Channel::Data)) {
+ std::vector<cv::Rect2d> data;
+ f.get(Channel::Data, data);
+
+ for (auto &d : data) {
+ cv::Mat over_depth;
+ over_depth.create(im1_.size(), CV_32F);
+
+ Eigen::Matrix4d fakepose = Eigen::Matrix4d::Identity().inverse() * state_.getPose();
+ ftl::rgbd::Camera fakecam;
+ fakecam.width = 1280;
+ fakecam.height = 720;
+ fakecam.fx = 700.0;
+ fakecam.cx = -d.x;
+ fakecam.cy = -(720.0-d.y);
+
+ state_.getLeft().cx = -d.x;
+ state_.getLeft().cy = -(state_.getLeft().height-d.y);
+
+ ftl::overlay::drawCamera(state_.getLeft(), im1_, over_depth, fakecam, fakepose, cv::Scalar(0,0,255,255), 0.2,screen_->root()->value("show_frustrum", false));
+ }
+ }
+ }
+ }
}
void ftl::gui::Camera::_draw(ftl::rgbd::FrameSet &fs) {
--
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