raphael/msckf_vio
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

commented visu parts cleanly

Browse Source
This commit is contained in:
Raphael Maenle
2019-04-19 13:32:16 +02:00
parent 1949e4c43d
commit 8defb20c8e
2 changed files with 11 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
include/msckf_vio/feature.hpp
View File

@ -403,7 +403,7 @@ bool Feature::FrameIrradiance(
std::vector<float>& anchorPatch_measurement) const
{
// visu
// visu - feature
/*cv::Mat current_image = cam0.moving_window.find(cam_state_id)->second.image;
cv::Mat dottedFrame(current_image.size(), CV_8UC3);
cv::cvtColor(current_image, dottedFrame, CV_GRAY2RGB);
@ -415,7 +415,7 @@ bool Feature::FrameIrradiance(
cv::Point2f p_in_c0 = projectPositionToCamera(cam_state, cam_state_id, cam0, point);
// visu
// visu - feature
/*cv::Point xs(p_in_c0.x, p_in_c0.y);
cv::Point ys(p_in_c0.x, p_in_c0.y);
cv::rectangle(dottedFrame, xs, ys, cv::Scalar(0,255,0));
@ -430,7 +430,7 @@ bool Feature::FrameIrradiance(
}
//visu
// visu - feature
//cv::resize(dottedFrame, dottedFrame, cv::Size(dottedFrame.cols*0.2, dottedFrame.rows*0.2));
/*if(cam0.featureVisu.empty())
cam0.featureVisu = dottedFrame.clone();