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More visualization cleanup and removal of redundant code.

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This commit is contained in:
Tadas Baltrusaitis
2017-11-12 10:55:47 +00:00
parent e1c260eee6
commit 5ce0a8d4bf
11 changed files with 80 additions and 261 deletions
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40
lib/local/Utilities/src/VisualizationUtils.cpp
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@@ -43,46 +43,6 @@
namespace Utilities
{
void Project(cv::Mat_<double>& dest, const cv::Mat_<double>& mesh, double fx, double fy, double cx, double cy)
{
dest = cv::Mat_<double>(mesh.rows, 2, 0.0);
int num_points = mesh.rows;
double X, Y, Z;
cv::Mat_<double>::const_iterator mData = mesh.begin();
cv::Mat_<double>::iterator projected = dest.begin();
for (int i = 0; i < num_points; i++)
{
// Get the points
X = *(mData++);
Y = *(mData++);
Z = *(mData++);
double x;
double y;
// if depth is 0 the projection is different
if (Z != 0)
{
x = ((X * fx / Z) + cx);
y = ((Y * fy / Z) + cy);
}
else
{
x = X;
y = Y;
}
// Project and store in dest matrix
(*projected++) = x;
(*projected++) = y;
}
}
void DrawBox(cv::Mat image, cv::Vec6d pose, cv::Scalar color, int thickness, float fx, float fy, float cx, float cy)
{