From 060eca8bfe84ee1792a685d3ff60f445fa4041ba Mon Sep 17 00:00:00 2001 From: Christian Forster Date: Thu, 1 May 2014 12:43:15 +0200 Subject: [PATCH] visualization --- svo_ros/src/visualizer.cpp | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/svo_ros/src/visualizer.cpp b/svo_ros/src/visualizer.cpp index 32ac3e1..4800c21 100644 --- a/svo_ros/src/visualizer.cpp +++ b/svo_ros/src/visualizer.cpp @@ -124,11 +124,21 @@ void Visualizer::publishMinimal( } if(img_pub_level_ == 0) + { for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) - cv::rectangle(img_rgb, - cv::Point2f((*it)->px[0]-2, (*it)->px[1]-2), - cv::Point2f((*it)->px[0]+2, (*it)->px[1]+2), - cv::Scalar(0,255,0), CV_FILLED); + { + if((*it)->type == Feature::EDGELET) + cv::line(img_rgb, + cv::Point2f((*it)->px[0]+3*(*it)->grad[1], (*it)->px[1]-3*(*it)->grad[0]), + cv::Point2f((*it)->px[0]-3*(*it)->grad[1], (*it)->px[1]+3*(*it)->grad[0]), + cv::Scalar(255,255,0), 2); + else + cv::rectangle(img_rgb, + cv::Point2f((*it)->px[0]-2, (*it)->px[1]-2), + cv::Point2f((*it)->px[0]+2, (*it)->px[1]+2), + cv::Scalar(0,255,0), CV_FILLED); + } + } if(img_pub_level_ == 1) for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) cv::rectangle(img_rgb,