features.py 文件源码

def draw_tracks(self, frame, debug=False):
        """Draw tracks

        Parameters
        ----------
        frame : np.array
            Image frame
        debug : bool
            Debug mode (Default value = False)

        """
        if debug is False:
            return

        # Create a mask image and color for drawing purposes
        mask = np.zeros_like(frame)
        color = [0, 0, 255]

        # Draw tracks
        for i, (new, old) in enumerate(zip(self.kp_cur, self.kp_ref)):
            a, b = new.ravel()
            c, d = old.ravel()
            mask = cv2.line(mask, (a, b), (c, d), color, 1)
        img = cv2.add(frame, mask)
        cv2.imshow("Feature Tracks", img)