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Merge pull request #27311 from asmorkalov:as/draw_axes_warning

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Added warning if projected axes are out of camera frame in drawAxes
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Alexander Smorkalov 2025-05-16 10:32:41 +03:00 committed by GitHub
commit 2af8d0317e
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1 changed files with 14 additions and 1 deletions
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15
modules/calib3d/src/solvepnp.cpp
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@ -98,7 +98,8 @@ void drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray d
CV_CheckType(type, cn == 1 || cn == 3 || cn == 4, CV_CheckType(type, cn == 1 || cn == 3 || cn == 4,
"Number of channels must be 1, 3 or 4" ); "Number of channels must be 1, 3 or 4" );
CV_Assert(image.getMat().total() > 0); cv::Mat img = image.getMat();
CV_Assert(img.total() > 0);
CV_Assert(length > 0); CV_Assert(length > 0);
// project axes points // project axes points
@ -110,6 +111,18 @@ void drawFrameAxes(InputOutputArray image, InputArray cameraMatrix, InputArray d
std::vector<Point2f> imagePoints; std::vector<Point2f> imagePoints;
projectPoints(axesPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints); projectPoints(axesPoints, rvec, tvec, cameraMatrix, distCoeffs, imagePoints);
cv::Rect imageRect(0, 0, img.cols, img.rows);
bool allIn = true;
for (size_t i = 0; i < imagePoints.size(); i++)
{
allIn &= imageRect.contains(imagePoints[i]);
}
if (!allIn)
{
CV_LOG_WARNING(NULL, "Some of projected axes endpoints are out of frame. The drawn axes may be not relaible.");
}
// draw axes lines // draw axes lines
line(image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255), thickness); line(image, imagePoints[0], imagePoints[1], Scalar(0, 0, 255), thickness);
line(image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0), thickness); line(image, imagePoints[0], imagePoints[2], Scalar(0, 255, 0), thickness);