From b11945b15cb7eec0ce643c087454d89c314c7688 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 17 Apr 2022 22:01:05 +0200
Subject: [PATCH] Cleanup unnecessarily complicated code
---
src/publisher_vision.cpp | 70 +++++++++-------------------------------
1 file changed, 16 insertions(+), 54 deletions(-)
diff --git a/src/publisher_vision.cpp b/src/publisher_vision.cpp
index 925401f..ca734f5 100644
--- a/src/publisher_vision.cpp
+++ b/src/publisher_vision.cpp
@@ -519,8 +519,6 @@ void PublisherVisionDebug::showTracks(cv::Mat _image,
int min_feature_in_track = min_max_feat.first;
int max_feature_in_track = min_max_feat.second;
- // for (auto track = _tracks.begin(); track != _tracks.end(); ++track) //la map trackS
-
map<size_t, FeatureBasePtr> alive_features = _track_matrix.snapshot(_cap_img);
if (alive_features.empty()) return;
@@ -585,7 +583,9 @@ void PublisherVisionDebug::showTracks(cv::Mat _image,
if (is_keyframe)
{
// mark features of previous keyframes
- cv::circle(_image, cv::Point(ftr->second->getMeasurement(0), ftr->second->getMeasurement(1)),
+ cv::circle(_image,
+ cv::Point(ftr->second->getMeasurement(0),
+ ftr->second->getMeasurement(1)),
tracks_.feature_kfs_.size_pix_,
color,
tracks_.feature_kfs_.thickness_);
@@ -667,47 +667,10 @@ Eigen::Vector2d PublisherVisionDebug::projectLandmarkHp(const Eigen::Matrix<doub
return pixel;
}
-// void PublisherVisionDebug::showLandmark(cv::Mat _image,
- // const TrackMatrix& _track_matrix,
- // const FeatureBasePtr& _ftr)
-// {
-
- // // get stuff common to all landmarks
- // const auto& capture = _ftr->getCapture();
- // const auto& Tcw = getTcwMatrix(capture);
- // const auto& prj_mat = getProjectionMatrix(capture);
- // const auto& trf_prj_mat = prj_mat * Tcw;
- // // get stuff of this landmark
- // const auto& lmk = getAssociatedLandmark(_track_matrix, _ftr);
- // const auto& lmk_pixel = projectLandmarkHp(trf_prj_mat, lmk);
-
- // if (lmk != nullptr)
- // {
- // cv::drawMarker(_image, cv::Point(lmk_pixel(0), lmk_pixel(1)),
- // CV_RGB(0, 0, 0), cv::MARKER_TILTED_CROSS,
- // thickness_lmk_, 1);
-
- // if (show_landmarks_ID_)
- // {
- // unsigned int lmk_id = lmk->id();
- // int shift_text_x = 7;
- // int shift_text_y = 10;
- // int font_face = 1; // let's keep the default one
-
- // cv::putText(
- // _image,
- // std::to_string(lmk_id),
- // cv::Point(lmk_pixel(0) - shift_text_x,
- // lmk_pixel(1) - shift_text_y),
- // font_face, size_text_ID_, CV_RGB(0, 0, 0));
- // }
- // }
-// }
-
-void PublisherVisionDebug::showLandmarks(cv::Mat _image,
- const TrackMatrix& _track_matrix,
- const CaptureBasePtr& _capture)
+void PublisherVisionDebug::showLandmarks(cv::Mat _image,
+ const TrackMatrix& _track_matrix,
+ const CaptureBasePtr& _capture)
{
// get stuff common to all landmarks
cv::Scalar color_lmks = primaryColor(landmarks_.color_);
@@ -730,7 +693,9 @@ void PublisherVisionDebug::showLandmarks(cv::Mat _image,
{
const auto& lmk_pixel = projectLandmarkHp(trf_prj_mat, lmk);
- cv::drawMarker(_image, cv::Point(lmk_pixel(0), lmk_pixel(1)),
+ cv::drawMarker(_image,
+ cv::Point(lmk_pixel(0),
+ lmk_pixel(1)),
color_lmks,
cv::MARKER_TILTED_CROSS,
landmarks_.size_pix_, 1);
@@ -776,26 +741,23 @@ void PublisherVisionDebug::showTracksPreprocess(cv::Mat _image,
const auto& ftr_origin = it_ftr_origin->second.getCvKeyPoint();
const auto& ftr_last = it_ftr_last->second.getCvKeyPoint();
- const auto& pos_ftr_origin = std::make_tuple(ftr_origin.pt.x, ftr_origin.pt.y) ;
- const auto& pos_ftr_last = std::make_tuple(ftr_last.pt.x, ftr_last.pt.y);
-
// cv::circle(_image,
-// cv::Point(std::get<0>(pos_ftr_last), std::get<1>(pos_ftr_last)),
+// ftr_origin.pt,
// tracks_.feature_last_.size_pix_,
// color_track_preprocess,
// tracks_.feature_last_.thickness_);
//
// cv::circle(_image,
-// cv::Point(std::get<0>(pos_ftr_origin), std::get<1>(pos_ftr_origin)),
+// ftr_last.pt,
// tracks_.feature_kfs_.size_pix_,
// color_track_preprocess,
// tracks_.feature_kfs_.thickness_);
- cv::line(_image,
- cv::Point(std::get<0>(pos_ftr_last), std::get<1>(pos_ftr_last)),
- cv::Point(std::get<0>(pos_ftr_origin), std::get<1>(pos_ftr_origin)),
- color_track_preprocess,
- tracks_preprocess_.thickness_);
+ cv::line(_image,
+ ftr_origin.pt,
+ ftr_last.pt,
+ color_track_preprocess,
+ tracks_preprocess_.thickness_);
}
}
}
--
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