image_node_b exception

[lishuaijielsj]

定义投影函数

void project(cv::Point2f& pt, cv::Mat const& K)                                                                                                                                                        
 {                                                                                                                                                                                                      
     pt.x = K.at<float>(0, 0) * pt.x + K.at<float>(0, 2);                                                                                                                                               
     pt.y = K.at<float>(1, 1) * pt.y + K.at<float>(1, 2);                                                                                                                                               
 }   

PL-VINS/image_node_b/src/image_node_b.cpp

Line 64 in 4e85932

cv::Point startPoint = cv::Point(line_feature_msg->channels[3].values[i], line_feature_msg->channels[4].values[i]);

在image_node_b.cpp 64行需要进行投影, 并且起止点的存储位置也需要修改, 否则会抛exception

cv::Point2f startPoint = cv::Point2f(line_feature_msg->points[i].x, line_feature_msg->points[i].y);                                                                                            
project(startPoint, K_);                                                                                                                                                                       
cv::Point2f endPoint = cv::Point2f(line_feature_msg->channels[1].values[i], line_feature_msg->channels[2].values[i]);                                                                          
project(endPoint, K_);   

[JaySlamer]

我猜测代码中linefeature_tracker_node的版本是一个早期版本，只发布了归一化坐标。应该存在一个更晚期的版本，将linefeature的startpoint和endpoint的像素坐标发布在channels[3]、channels[4]、channels[5]、channels[6].
@cnqiangfu

[cnqiangfu]

我猜测代码中linefeature_tracker_node的版本是一个早期版本，只发布了归一化坐标。应该存在一个更晚期的版本，将linefeature的startpoint和endpoint的像素坐标发布在channels[3]、channels[4]、channels[5]、channels[6].
@cnqiangfu

您说的对，谢谢。

[YoungHaulk]

定义投影函数

void project(cv::Point2f& pt, cv::Mat const& K)                                                                                                                                                        
 {                                                                                                                                                                                                      
     pt.x = K.at<float>(0, 0) * pt.x + K.at<float>(0, 2);                                                                                                                                               
     pt.y = K.at<float>(1, 1) * pt.y + K.at<float>(1, 2);                                                                                                                                               
 }   

PL-VINS/image_node_b/src/image_node_b.cpp

Line 64 in 4e85932

cv::Point startPoint = cv::Point(line_feature_msg->channels[3].values[i], line_feature_msg->channels[4].values[i]);

在image_node_b.cpp 64行需要进行投影, 并且起止点的存储位置也需要修改, 否则会抛exception

cv::Point2f startPoint = cv::Point2f(line_feature_msg->points[i].x, line_feature_msg->points[i].y);                                                                                            
project(startPoint, K_);                                                                                                                                                                       
cv::Point2f endPoint = cv::Point2f(line_feature_msg->channels[1].values[i], line_feature_msg->channels[2].values[i]);                                                                          
project(endPoint, K_);   

Successfully solved the problem, thanks！

[Yan-0-0-Ye]

我定义了重投影函数，并添加了
cv::Point2f startPoint = cv::Point2f(line_feature_msg->points[i].x, line_feature_msg->points[i].y);
project(startPoint, K_);
cv::Point2f endPoint = cv::Point2f(line_feature_msg->channels[1].values[i], line_feature_msg->channels[2].values[i]);
project(endPoint, K_);
并将 下面两行注释了
cv::Point startPoint = cv::Point(line_feature_msg->channels[3].values[i], line_feature_msg->channels[4].values[i]);
cv::Point endPoint = cv::Point(line_feature_msg->channels[5].values[i], line_feature_msg->channels[6].values[i]);

而且yaml文件我也改成了绝对路径，但是还没能解决tricking图像不显示的问题

[huyating99]

感谢，问题解决