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aruco_map: add image_axis parameter for drawing axis on ~image topic

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This commit is contained in:
Oleg Kalachev
2019-08-01 04:06:18 +03:00
parent 47bc3b90da
commit 60fd4f9c0f
3 changed files with 24 additions and 6 deletions
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19
aruco_pose/src/draw.cpp
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@@ -23,12 +23,12 @@ static void _projectPoints( InputArray objectPoints,
void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginSize,
int borderBits) {
int borderBits, bool drawAxis) {
CV_Assert(outSize.area() > 0);
CV_Assert(marginSize >= 0);
_img.create(outSize, CV_8UC1);
_img.create(outSize, drawAxis ? CV_8UC3 : CV_8UC1);
Mat out = _img.getMat();
out.setTo(Scalar::all(255));
out.adjustROI(-marginSize, -marginSize, -marginSize, -marginSize);
@@ -90,6 +90,9 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
side = std::max(side, 10);
dictionary.drawMarker(_board->ids[m], side, marker, borderBits);
if (drawAxis) {
cvtColor(marker, marker, COLOR_GRAY2RGB);
}
// interpolate tiny marker to marker position in markerZone
inCorners[0] = Point2f(-0.5f, -0.5f);
@@ -101,6 +104,18 @@ void _drawPlanarBoard(Board *_board, Size outSize, OutputArray _img, int marginS
warpAffine(marker, out, transformation, out.size(), INTER_LINEAR,
BORDER_TRANSPARENT);
}
// draw axis
if (drawAxis) {
Size wholeSize; Point ofs;
out.locateROI(wholeSize, ofs);
auto out_copy = _img.getMat();
cv::Point center(ofs.x - minX / sizeX * float(out.cols), ofs.y + out.rows + minY / sizeY * float(out.rows));
line(out_copy, center, center + Point(300, 0), Scalar(255, 0, 0), 10); // x axis
line(out_copy, center, center + Point(0, -300), Scalar(0, 255, 0), 10); // y axis
line(out_copy, center, center + Point(-200, 200), Scalar(0, 0, 255), 10); // z axis
}
}
/* Draw a (potentially partially visible) line. */