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Merge preparations for CE-CLM and master

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This commit is contained in:
Tadas Baltrusaitis
2018-02-12 08:08:14 +00:00
parent 50ea71169e
commit da29fb402c
17 changed files with 96 additions and 89 deletions
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20
lib/local/Utilities/src/VisualizationUtils.cpp
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@@ -83,9 +83,9 @@ namespace Utilities
DrawBox(edge_lines, image, color, thickness);
}
std::vector<std::pair<cv::Point2d, cv::Point2d>> CalculateBox(cv::Vec6d pose, float fx, float fy, float cx, float cy)
std::vector<std::pair<cv::Point2d, cv::Point2d>> CalculateBox(cv::Vec6f pose, float fx, float fy, float cx, float cy)
{
double boxVerts[] = { -1, 1, -1,
float boxVerts[] = { -1, 1, -1,
1, 1, -1,
1, 1, 1,
-1, 1, 1,
@@ -109,10 +109,10 @@ namespace Utilities
edges.push_back(std::pair<int, int>(7, 6));
// The size of the head is roughly 200mm x 200mm x 200mm
cv::Mat_<double> box = cv::Mat(8, 3, CV_64F, boxVerts).clone() * 100;
cv::Mat_<float> box = cv::Mat(8, 3, CV_64F, boxVerts).clone() * 100.0f;
cv::Matx33d rot = Euler2RotationMatrix(cv::Vec3d(pose[3], pose[4], pose[5]));
cv::Mat_<double> rotBox;
cv::Matx33f rot = Euler2RotationMatrix(cv::Vec3f(pose[3], pose[4], pose[5]));
cv::Mat_<float> rotBox;
// Rotate the box
rotBox = cv::Mat(rot) * box.t();
@@ -124,21 +124,21 @@ namespace Utilities
rotBox.col(2) = rotBox.col(2) + pose[2];
// draw the lines
cv::Mat_<double> rotBoxProj;
cv::Mat_<float> rotBoxProj;
Project(rotBoxProj, rotBox, fx, fy, cx, cy);
std::vector<std::pair<cv::Point2d, cv::Point2d>> lines;
for (size_t i = 0; i < edges.size(); ++i)
{
cv::Mat_<double> begin;
cv::Mat_<double> end;
cv::Mat_<float> begin;
cv::Mat_<float> end;
rotBoxProj.row(edges[i].first).copyTo(begin);
rotBoxProj.row(edges[i].second).copyTo(end);
cv::Point2d p1(begin.at<double>(0), begin.at<double>(1));
cv::Point2d p2(end.at<double>(0), end.at<double>(1));
cv::Point2d p1(begin.at<float>(0), begin.at<float>(1));
cv::Point2d p2(end.at<float>(0), end.at<float>(1));
lines.push_back(std::pair<cv::Point2d, cv::Point2d>(p1, p2));