added minor visualization changes

2019-05-02 17:02:44 +02:00
parent acbcf79417
commit ee40dff740
3 changed files with 17 additions and 1 deletions
--- a/include/msckf_vio/feature.hpp
+++ b/include/msckf_vio/feature.hpp
@ -491,6 +491,12 @@ bool Feature::VisualizePatch(

  cv::hconcat(cam0.featureVisu, irradianceFrame, cam0.featureVisu);

+  // write feature position
+  std::stringstream pos_s;
+  pos_s << "u: " << observations.begin()->second(0) << " v: " << observations.begin()->second(1);
+  cv::putText(cam0.featureVisu, pos_s.str() , cvPoint(anchorImage.rows + 100, anchorImage.cols - 30), 
+    cv::FONT_HERSHEY_COMPLEX_SMALL, 0.8, cvScalar(200,200,250), 1, CV_AA);
+
  // create line?

  //save image