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fixed visualization issue

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This commit is contained in:
Raphael Maenle
2019-07-12 16:36:36 +02:00
parent 876fa7617c
commit 5a80f97b68
6 changed files with 28 additions and 17 deletions
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3
include/msckf_vio/feature.hpp
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@ -823,11 +823,10 @@ bool Feature::VisualizePatch(
cv::putText(irradianceFrame, namer.str() , cvPoint(30, 65+scale*2*N),
cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(0,0,0), 1, CV_AA);
cv::Point2f p_f(observations.find(cam_state_id)->second(0)*cam.intrinsics[0] + cam.intrinsics[2],observations.find(cam_state_id)->second(1)*cam.intrinsics[1] + cam.intrinsics[3]);
cv::Point2f p_f(observations.find(cam_state_id)->second(0),observations.find(cam_state_id)->second(1));
// move to real pixels
p_f = image_handler::distortPoint(p_f, cam.intrinsics, cam.distortion_model, cam.distortion_coeffs);
for(int i = 0; i<N; i++)
{
for(int j = 0; j<N ; j++)