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Fixed bug in the viz thread
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Your Name committed Apr 21, 2024
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375 changes: 375 additions & 0 deletions config/trajectory/trajectory_files/trajectory_point_lio.txt
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8 changes: 7 additions & 1 deletion src/detector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -672,12 +672,18 @@ class UVDARDetector : public nodelet::Nodelet{
/* VisualizationThread() //{ */
void VisualizationThread([[maybe_unused]] const ros::TimerEvent& te) {
if (initialized_){
//generateVisualization(image_visualization_);

if(_adaptive_threshold_){
int image_index = 0;
cv::Mat visualization_image;
cv::Mat white_background = cv::Mat::ones(images_current_[image_index].size(),images_current_[image_index].type()) * 255;
uvda_[image_index]->generateVisualizationAdaptive(white_background,visualization_image,adaptive_detected_points_[image_index]);
//publishVisualizationImage(visualization_image);
}
else{
generateVisualization(image_visualization_);
}

if ((visualization_image.cols != 0) && (visualization_image.rows != 0)){
if (_publish_visualization_){
ROS_INFO_STREAM("[UVDARDetector]: Publishing visualization.");
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