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Eigen alignment fix

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This commit is contained in:
akira_you
2017-03-25 05:57:53 +09:00
parent 80744bbe42
commit ec240827b1
9 changed files with 36 additions and 35 deletions
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svo_ros/src/visualizer.cpp
+8 -9
View File
@@ -134,26 +134,25 @@ void Visualizer::publishMinimal(
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(255,0,255), 2);
else
else//point size 5x5
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)
else if(img_pub_level_ == 1){//point size 3x3
for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it)
cv::rectangle(img_rgb,
cv::Point2f((*it)->px[0]/scale-1, (*it)->px[1]/scale-1),
cv::Point2f((*it)->px[0]/scale+1, (*it)->px[1]/scale+1),
cv::Scalar(0,255,0), CV_FILLED);
else
for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it)
cv::rectangle(img_rgb,
cv::Point2f((*it)->px[0]/scale, (*it)->px[1]/scale),
cv::Point2f((*it)->px[0]/scale, (*it)->px[1]/scale),
cv::Scalar(0,255,0), CV_FILLED);
}else{ //point size 1x1
for(Features::iterator it=frame->fts_.begin(); it!=frame->fts_.end(); ++it){
cv::Vec3b &p= img_rgb.at<cv::Vec3b>((*it)->px[1]/scale, (*it)->px[0]/scale);
p[0]=0;p[1]=255;p[2]=0;
}
}
cv_bridge::CvImage img_msg;
img_msg.header = header_msg;
img_msg.image = img_rgb;
svo_ros/src/vo_node.cpp
-1
View File
@@ -13,7 +13,6 @@
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#include <ros/package.h>
#include <string>
#include <svo/frame_handler_mono.h>