display extracted points' centers

1 files changed, 17 insertions, 0 deletions

diff --git a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
index 83bf6911..b4100998 100644
--- a/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
+++ b/FTNoIR_Tracker_PT/ftnoir_tracker_pt.cpp
@@ -83,6 +83,23 @@ void Tracker::run()
         {

             frame = frame_rotation.rotate_frame(frame);

             const std::vector<cv::Vec2f>& points = point_extractor.extract_points(frame, dt, true);

+            for (auto p : points)

+            {

+                auto p2 = cv::Point(p[0] * frame.cols + frame.cols/2,

+                                    p[1] * frame.rows + frame.rows/2);

+                cv::Scalar color(0, 255, 0);

+                qDebug() << p2.x << p2.y;

+                cv::line(frame,

+                         cv::Point(p2.x - 20, p2.y),

+                         cv::Point(p2.x + 20, p2.y),

+                         color,

+                         4);

+                cv::line(frame,

+                         cv::Point(p2.x, p2.y - 20),

+                         cv::Point(p2.x, p2.y + 20),

+                         color,

+                         4);

+            }

             tracking_valid = point_tracker.track(points, camera.get_info().fov, dt, frame.cols, frame.rows);

             video_widget->update_image(frame);

         }