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added ocvis output for multiple filter

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This commit is contained in:
Raphael Maenle
2019-06-28 10:52:11 +02:00
parent 3ae7bdb13a
commit 53e2a5d524
4 changed files with 68 additions and 29 deletions
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8
include/msckf_vio/feature.hpp
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@ -220,9 +220,7 @@ bool VisualizeKernel(
const StateIDType& cam_state_id,
CameraCalibration& cam0,
const Eigen::VectorXd& photo_r,
std::stringstream& ss,
cv::Point2f gradientVector,
cv::Point2f residualVector) const;
std::stringstream& ss) const;
/*
* @brief AnchorPixelToPosition uses the calcualted pixels
* of the anchor patch to generate 3D positions of all of em
@ -720,9 +718,7 @@ bool Feature::VisualizePatch(
const StateIDType& cam_state_id,
CameraCalibration& cam0,
const Eigen::VectorXd& photo_r,
std::stringstream& ss,
cv::Point2f gradientVector,
cv::Point2f residualVector) const
std::stringstream& ss) const
{
double rescale = 1;