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 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;
}