From 0aa28ab54ea238c63b1086dc925bbfcd600e6274 Mon Sep 17 00:00:00 2001
From: ydepledt <yanndepledt360@gmail.com>
Date: Tue, 19 Apr 2022 12:26:00 +0200
Subject: [PATCH] Add a parameter to show or not features from the preprocessor
---
include/publisher_vision.h | 1 +
src/publisher_vision.cpp | 26 +++++++++++++++-----------
2 files changed, 16 insertions(+), 11 deletions(-)
diff --git a/include/publisher_vision.h b/include/publisher_vision.h
index 5498639..9171f61 100644
--- a/include/publisher_vision.h
+++ b/include/publisher_vision.h
@@ -93,6 +93,7 @@ class PublisherVisionDebug : public Publisher
struct Tracks_preprocess {
bool show_;
bool show_on_diff_topic_;
+ bool show_features_;
double thickness_;
Color color_;
};
diff --git a/src/publisher_vision.cpp b/src/publisher_vision.cpp
index 6864189..a084c16 100644
--- a/src/publisher_vision.cpp
+++ b/src/publisher_vision.cpp
@@ -102,6 +102,7 @@ PublisherVisionDebug::PublisherVisionDebug(const std::string &_unique_name,
//Tracks_preprocess
tracks_preprocess_.show_ = getParamWithDefault<bool>(_server, prefix_ + "/tracks_preprocess/show", false);
tracks_preprocess_.show_on_diff_topic_ = getParamWithDefault<bool>(_server, prefix_ + "/tracks_preprocess/show_on_diff_topic", false);
+ tracks_preprocess_.show_features_ = getParamWithDefault<bool>(_server, prefix_ + "/tracks_preprocess/show_features", false);
tracks_preprocess_.thickness_ = getParamWithDefault<double>(_server, prefix_ + "/tracks_preprocess/thickness", 1.5);
std::string str_colortracks_preprocess = getParamWithDefault<std::string>(_server, prefix_ + "/tracks_preprocess/color", "CYAN");
tracks_preprocess_.color_ = colorStringToEnum(str_colortracks_preprocess);
@@ -623,18 +624,21 @@ void PublisherVisionDebug::showTracksPreprocess(cv::Mat _image,
{
const auto& ftr_origin = it_ftr_origin->second.getCvKeyPoint();
const auto& ftr_last = it_ftr_last->second.getCvKeyPoint();
+
+ if (tracks_preprocess_.show_features_)
+ {
+ cv::circle(_image,
+ ftr_origin.pt,
+ tracks_.feature_last_.size_pix_,
+ color_track_preprocess,
+ tracks_.feature_last_.thickness_);
-// cv::circle(_image,
-// ftr_origin.pt,
-// tracks_.feature_last_.size_pix_,
-// color_track_preprocess,
-// tracks_.feature_last_.thickness_);
-//
-// cv::circle(_image,
-// ftr_last.pt,
-// tracks_.feature_kfs_.size_pix_,
-// color_track_preprocess,
-// tracks_.feature_kfs_.thickness_);
+ cv::circle(_image,
+ ftr_last.pt,
+ tracks_.feature_kfs_.size_pix_,
+ color_track_preprocess,
+ tracks_.feature_kfs_.thickness_);
+ }
cv::line(_image,
ftr_origin.pt,
--
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