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visualization

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This commit is contained in:
Christian Forster
2014-05-01 12:43:15 +02:00
parent a895a99fd1
commit 060eca8bfe
1 changed files with 14 additions and 4 deletions
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svo_ros/src/visualizer.cpp
+14 -4
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@@ -124,11 +124,21 @@ void Visualizer::publishMinimal(
} }
if(img_pub_level_ == 0) if(img_pub_level_ == 0)
{
for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) 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), if((*it)->type == Feature::EDGELET)
cv::Point2f((*it)->px[0]+2, (*it)->px[1]+2), cv::line(img_rgb,
cv::Scalar(0,255,0), CV_FILLED); 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) if(img_pub_level_ == 1)
for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it) for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it)
cv::rectangle(img_rgb, cv::rectangle(img_rgb,