raphael/msckf_vio
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sobel normalization added

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This commit is contained in:
Raphael Maenle
2019-06-13 18:09:06 +02:00
parent 07f4927128
commit 1b29047451
2 changed files with 11 additions and 4 deletions
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9
include/msckf_vio/feature.hpp
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@ -701,7 +701,11 @@ bool Feature::VisualizeKernel(
cv::Mat xderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type());
cv::Mat yderImage2(anchorImage.rows, anchorImage.cols, anchorImage_blurred.type());
cv::imshow("xder", abs_xderImage);
cv::Mat norm_abs_xderImage;
cv::normalize(abs_xderImage, norm_abs_xderImage, 0, 255, cv::NORM_MINMAX, CV_8UC1);
cv::imshow("xder", norm_abs_xderImage);
cv::imshow("yder", abs_yderImage);
for(int i = 1; i < anchorImage.rows-1; i++)
@ -1028,6 +1032,9 @@ bool Feature::initializeAnchor(const CameraCalibration& cam, int N)
cv::Sobel(anchorImage_deeper, xderImage, -1, 1, 0, 3);
cv::Sobel(anchorImage_deeper, yderImage, -1, 0, 1, 3);
xderImage/=8;
yderImage/=8;
cv::convertScaleAbs(xderImage, abs_xderImage);
cv::convertScaleAbs(yderImage, abs_yderImage);