void overlayText(FILE* outfile ,struct act* myAct , struct meme* myMeme, struct font* myFont, int i){
int height = myFont->myChars[0].h;
int totalWidth = 0;
double temp = 0;
int len = strlen(myAct->ids[i].value);
int* widths = (int*) malloc(len * sizeof(int));
int topX = 0, topY = 0, centerX = 0, centerY = 0, k = 0;
struct character* charString = (struct character*) calloc(len, sizeof(struct character));
centerX = myAct->ids[i].x;
centerY = myAct->ids[i].y;
calculateWidth(myAct, myFont, i, &totalWidth, len, charString, widths);
temp = (double) totalWidth / 2.0 ;
topX = centerX - temp + 1;
topY = centerY - height;
for ( k = 0; k < len; k++ ) {
overlayImages(myMeme->myImage, charString[k].thisChar, topX, topY);
topX += widths[k];
}
free(widths);
free(charString);
}
void FeatureVisualization::overlayAndPublishDisparity(const stereo_msgs::DisparityImage& disparity_img, cv::Mat imageWithFeatures)
{
//TODO:: find a better way to convert disparity img to cv.
const float d_max = disparity_img.max_disparity - disparity_img.min_disparity;
sensor_msgs::ImagePtr img_ptr(new sensor_msgs::Image(disparity_img.image));
cv::Mat disparity = convertSensorMsgToCV(img_ptr);
cv::Mat output_img;
overlayImages(imageWithFeatures, disparity, d_max, output_img);
dispaity_image_publisher_.publish(convertCVToSensorMsg(output_img));
}
