pangolin 绘制文字

 

 

void Visualizer::textToPoints(std::string text)
{
    // string text = "box";
    // int fontFace = FONT_HERSHEY_SCRIPT_SIMPLEX;     //手写风格字体
    int    fontFace  = 0;
    double fontScale = 1;  // 字体缩放比
    int    thickness = 1;
    int    baseline  = 0;

    cv::Size textSize = cv::getTextSize(text, fontFace, fontScale, thickness, &baseline);
    baseline += thickness;

    cv::Mat img(textSize.height + 5, 100, CV_8UC1, cv::Scalar::all(0));

    // pos the text
    cv::Point textOrg(0, textSize.height);

    cv::line(img, textOrg + cv::Point(0, thickness), textOrg + cv::Point(textSize.width, thickness),
             cv::Scalar(0, 0, 255));

    cv::putText(img, text, textOrg, fontFace, fontScale, cv::Scalar::all(255), thickness, 8);

    std::vector<Point3DType> txtPoints;
    for (int i = 0, iend = img.rows; i < iend; i++)
    {
        for (int j = 0, jend = img.cols; j < jend; j++)
        {
            if ((int)img.at<uchar>(i, j) == 255)
            {
                Point3DType point(i, j, 0);
                txtPoints.push_back(point);
            }
        }
    }
    glPointSize(5.0f);
    glColor3f(0, 0, 1);
    glBegin(GL_POINTS);
    for (const auto& point : txtPoints)
    {
        glVertex3f(point.GetX(), point.GetY(), point.GetZ());
    }
    glEnd();
}

 

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