diff --git a/include/publisher_vision.h b/include/publisher_vision.h index 40931d745eb7429e2eaa7a53765e453ee98510e5..2c507182dae0b48ef493c2fb55da9b5d7c80f749 100644 --- a/include/publisher_vision.h +++ b/include/publisher_vision.h @@ -92,13 +92,40 @@ class PublisherVisionDebug : public Publisher Function that change an image to show tracks and features within it */ void showTracks(cv::Mat _image, const TrackMatrix& _track_matrix, CaptureBasePtr _cap_img, COLORFEATURES _color_of_features, bool _show_track_ID); - - Eigen::Vector2d projectLandmarkHp (const Eigen::Matrix<double, 3, 4>& _trf_proj_mat, const LandmarkBasePtr _lmk); - LandmarkBasePtr getAssociatedLandmark(const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr); - Eigen::Matrix<double, 3, 4> getProjectionMatrix (const CaptureBasePtr _capture) const; + + /* + Function that return the transformation from world to camera + */ Eigen::Isometry3d getTcw (const CaptureBasePtr _capture) const; + + /* + Function that transform Tcw into matrix for multiplication purpose + */ Eigen::Matrix4d getTcwMatrix (const CaptureBasePtr _capture) const; + + /* + Function that return the projection matrix of a sensor (linked to a capture) + */ + Eigen::Matrix<double, 3, 4> getProjectionMatrix (const CaptureBasePtr _capture) const; + + /* + Function that return only the landmark associated to a feature in last keyframes + */ + LandmarkBasePtr getAssociatedLandmark(const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr); + + /* + Function that return the projection of a landmark in the frame + */ + Eigen::Vector2d projectLandmarkHp (const Eigen::Matrix<double, 3, 4>& _trf_proj_mat, const LandmarkBasePtr _lmk); + + /* + Function that print one landmark into the capture + */ void showLandmark (cv::Mat _image, const TrackMatrix& _track_matrix, const FeatureBasePtr& _ftr, bool _show_landmark_ID); + + /* + Function that print all of the landmarks associated with the capture + */ void showLandmarks (cv::Mat _image, const TrackMatrix& _track_matrix, const CaptureBasePtr& _cap, bool _show_landmark_ID); };