Function appendSphere

pj_scene2D/core/src/scene_entities_2d_decoder.cpp:97–107

}

void appendSphere(const sdk::SpherePrimitive& sphere, ImageAnnotation& annotation) {
  const double radius = std::max(std::abs(sphere.size.x), std::abs(sphere.size.y)) * 0.5;
  if (radius <= 0.0) {
    return;
  }
  CircleAnnotation out;
  out.center = projectPosition(sphere.pose);
  out.radius = radius;
  out.color = sphere.color;
  annotation.circles.push_back(out);
}

void appendCubeFootprint(const sdk::CubePrimitive& cube, ImageAnnotation& annotation) {
  const double half_x = std::abs(cube.size.x) * 0.5;