utils::VisualizationDescription ORBFeatureDetector::FeatureSetClass::vis() const{
VisualizationDescription d;
d.color(255,0,0,255);
for(size_t i=0;i<impl->keyPoints.size();++i){
const ocv::KeyPoint &k = impl->keyPoints[i];
float s = k.size / 2;
float cx = k.pt.x;
float cy = k.pt.y;
d.color(0,255,0,255);
if(k.angle != -1){
float angle = k.angle*M_PI/180.0;
int cx2 = cx + cos(angle) * s;
int cy2 = cy + sin(angle) * s;
d.linewidth(2);
d.line(cx,cy,cx2,cy2);
}
d.linewidth(1);
d.color(0,100,255,255);
d.fill(255,0,0,0);
d.circle(cx,cy,s);
}
return d;
}
VisualizationDescription CheckerboardDetector::Checkerboard::visualize() const{
VisualizationDescription vis;
static const Color cs[5] = {
Color(255,0,0),
Color(255,255,0),
Color(0,255,255),
Color(0,0,255),
Color(255,0,255)
};
vis.fill(0,0,0,0);
for(int y=0, idx=0;y<size.height;++y){
const Color &c = cs[y%5];
vis.color(c[0],c[1],c[2],255);
for(int x=0;x<size.width;++x,++idx){
const Point32f &p = corners[idx];
vis.circle(p.x+.5,p.y+.5,2);
vis.line(p.x-1,p.y-1,p.x+1,p.y+1);
vis.line(p.x+1,p.y-1,p.x-1,p.y+1);
if(x || y){
vis.line(p.x,p.y,corners[idx-1].x, corners[idx-1].y);
}
}
}
return vis;
}
VisualizationDescription vis() const{
VisualizationDescription d;
d.color(255,0,0,255);
d.linewidth(2);
d.fill(255,0,0,40);
std::vector<Point> pso = ps;
d.polygon(pso);
d.linewidth(1);
for(int i=0;i<4;++i){
d.fill(255,0,0,1+127*handles[i]);
d.rect(pso[i].x-5,pso[i].y-5,11,11);
}
return d;
}