visualization.cpp

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#include "geolib/visualization.h"
 
#include <geolib/Shape.h>
#include <geolib/sensors/DepthCamera.h>
 
#include <opencv2/highgui/highgui.hpp>
 
namespace geo {
 
void visualization::showKinect(ShapeConstPtr shape, double canvas_width, double canvas_height)
{
    DepthCamera cam(canvas_width, canvas_height,
                    554.2559327880068 * canvas_width / 640, 554.2559327880068 * canvas_height / 480,
                    320.5 * canvas_width / 640, 240.5 * canvas_height / 480,
                    0, 0);
 
    double r = shape->getMaxRadius();
    double dist = r / 2;
 
    for(double angle = 0; angle < 6.283; angle += 0.05) {
        cv::Mat image = cv::Mat(image.rows, image.cols, CV_32FC1, 0.0);
 
        Pose3D pose(0, 0, dist, -1.57, angle, 0);
        cam.rasterize(*shape, pose, image);
 
        cv::imshow("visualization", image /  10);
        if (cv::waitKey(30) != -1) {
            return;
        }
    }
}
 
}