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Merge branch 'dev' of https://github.com/uzh-rpg/rpg_svo into dev

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Conflicts:
	svo/src/reprojector.cpp
This commit is contained in:
Christian Forster
2014-04-03 10:20:20 +02:00
parent a1e014c77c 1f44610858
commit 0454a92de3
33 changed files with 607 additions and 632 deletions
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svo/test/test_sparse_img_align.cpp
+5 -3
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@@ -26,6 +26,7 @@
#include <svo/point.h>
#include <svo/feature.h>
#include <svo/config.h>
#include "test_utils.h"
namespace {
@@ -68,7 +69,8 @@ void SparseImgAlignTest::testSequence(
std::list<double> translation_error;
Sophus::SE3 T_prev_w, T_prevgt_w;
std::string trace_name(std::string(TEST_TRACE_DIR) + "/sparse_img_align_" + experiment_name + "_trans_estimate.txt");
std::string trace_dir(svo::test_utils::getTraceDir());
std::string trace_name(trace_dir + "/sparse_img_align_" + experiment_name + "_trans_estimate.txt");
std::ofstream ofs(trace_name.c_str());
for(int i=0; iter != sequence.end() && i<30; ++iter, ++i)
{
@@ -142,7 +144,7 @@ void SparseImgAlignTest::testSequence(
ofs.close();
// trace error
trace_name = std::string(TEST_TRACE_DIR) + "/sparse_img_align_" + experiment_name + "_trans_error.txt";
trace_name = trace_dir + "/sparse_img_align_" + experiment_name + "_trans_error.txt";
ofs.open(trace_name.c_str());
for(std::list<double>::iterator it=translation_error.begin(); it!=translation_error.end(); ++it)
ofs << *it << std::endl;
@@ -155,7 +157,7 @@ void SparseImgAlignTest::testSequence(
int main(int argc, char** argv)
{
std::string experiment_name("flying_room_1_rig_1_fast_minlev0");
std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1");
std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1");
svo::feature_detection::FastDetector detector;
svo::Config::triangMinCornerScore() = 20;
svo::Config::kltMinLevel() = 0;