From 108f4b241699fc494072305c5bb6ebd93f88b802 Mon Sep 17 00:00:00 2001
From: Vadim Pisarevsky <no@email>
Date: Thu, 10 Jun 2010 18:54:14 +0000
Subject: [PATCH] write camera pose, handle partially occluded objects

---
 samples/cpp/select3dobj.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/samples/cpp/select3dobj.cpp b/samples/cpp/select3dobj.cpp
index 192bb8f..1b48084 100644
--- a/samples/cpp/select3dobj.cpp
+++ b/samples/cpp/select3dobj.cpp
@@ -401,8 +401,10 @@ int main(int argc, char** argv)
                 fclose(f);
             }
             
-            imwrite(path, selectedObjFrame(r));
-            fprintf(fframes, "%s%04d.jpg", outbarename, frameIdx);
+            imwrite(path, selectedObjFrame(r&Rect(0,0,selectedObjFrame.cols,selectedObjFrame.rows)));
+            fprintf(fframes, "%s%04d.jpg (%.4f %.4f %.4f) (%.4f %.4f %.4f)", outbarename, frameIdx,
+                    rvec.at<double>(0,0), rvec.at<double>(1,0), rvec.at<double>(2,0),
+                    tvec.at<double>(0,0), tvec.at<double>(1,0), tvec.at<double>(2,0));
             for( int i = 0; i < 8; i++ )
                 fprintf(fframes, " (%.2f %.2f %.2f)", objpts[i].x, objpts[i].y, objpts[i].z);
             fprintf(fframes, "\n");
-- 
2.7.4