From 9fdcece1c9a637c491f83edff2a58be4b8fcd488 Mon Sep 17 00:00:00 2001
From: ydepledt <yanndepledt360@gmail.com>
Date: Tue, 19 Apr 2022 12:26:52 +0200
Subject: [PATCH] Restore the yaml file and add a parameter to show or not
features from the preprocessor
---
yaml/demo_visual_odometry_euroc.yaml | 25 +------------------------
yaml/publisher_vision_debug.yaml | 9 +++++----
2 files changed, 6 insertions(+), 28 deletions(-)
diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index a384a8b..391eb7a 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -83,28 +83,5 @@ config:
topic_preprocessor: "/debug_image_preprocessor"
package: "wolf_ros_vision"
period: 0.05
- tracks:
- show_id: false
- size_id: 0.75
- thickness: 1.0
- color: "CYAN"
- min_lum: 100
- max_lum: 450
- feature_last:
- thickness: -1
- size_pix: 2
- color: "RED"
- feature_kfs:
- thickness: 0.1
- size_pix: 2
- tracks_preprocess:
- show: true
- show_on_diff_topic: false
- thickness: 1.0
- color: "GREEN"
- landmarks:
- show_id: false
- size_id: 0.75
- size_pix: 5
- color: "RED"
+ follow: "publisher_vision_debug.yaml"
diff --git a/yaml/publisher_vision_debug.yaml b/yaml/publisher_vision_debug.yaml
index 5c06e41..9226e86 100644
--- a/yaml/publisher_vision_debug.yaml
+++ b/yaml/publisher_vision_debug.yaml
@@ -2,7 +2,7 @@ tracks:
show_id: true
size_id: 0.5
thickness: 1.5
- min_max_on_alive_tracks: false
+ min_max_on_alive_tracks: true
color: "CYAN" # color of the tracks and feature_kfs
min_lum: 100 # above 0
max_lum: 450 # below 510
@@ -15,13 +15,14 @@ tracks:
size_pix: 1
tracks_preprocess:
- show: false # tracks from the preprocess are visible or not
+ show: true # tracks from the preprocess are visible or not
show_on_diff_topic: false # tracks from the preprocess are visible in the same image as the others tracks or not
+ show_features: false
thickness: 1.5
- color: "CYAN"
+ color: "GREEN"
landmarks:
show_id: false
size_id: 0.5
size_pix: 5
- color: "GREY"
+ color: "YELLOW"
--
GitLab