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can set start frame idx of dataset

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This commit is contained in:
Christian Forster
2014-04-22 18:36:18 +02:00
parent b49e436356
commit 0cbe4a6ca1
1 changed files with 10 additions and 10 deletions
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svo_ros/src/benchmark_node.cpp
+6 -6
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@@ -124,21 +124,20 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir)
dataset_reader.readAllEntries(dataset); dataset_reader.readAllEntries(dataset);
// process dataset // process dataset
int first_frame = vk::getParam<int>("svo/dataset_first_frame", 0);
for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_)
{ {
// Read image if(frame_count_ < first_frame)
continue;
std::string img_filename(dataset_dir + "/" + it->image_name_); std::string img_filename(dataset_dir + "/" + it->image_name_);
cv::Mat img(cv::imread(img_filename, 0)); cv::Mat img(cv::imread(img_filename, 0));
if(img.empty()) { if(img.empty()) {
SVO_ERROR_STREAM("Reading image "<<img_filename<<" failed."); SVO_ERROR_STREAM("Reading image "<<img_filename<<" failed.");
return; return;
} }
vo_->addImage(img, it->timestamp_); vo_->addImage(img, it->timestamp_);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_);
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME)
tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_); tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_);
} }
@@ -208,13 +207,14 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir)
SVO_INFO_STREAM("Added "<<corners.size()<<" 3d pts to the reference frame."); SVO_INFO_STREAM("Added "<<corners.size()<<" 3d pts to the reference frame.");
vo_->setFirstFrame(frame_ref); vo_->setFirstFrame(frame_ref);
SVO_INFO_STREAM("Set reference frame."); SVO_INFO_STREAM("Set reference frame.");
continue;
} }
else
{
SVO_DEBUG_STREAM("Processing image "<<it->image_name_<<"."); SVO_DEBUG_STREAM("Processing image "<<it->image_name_<<".");
vo_->addImage(img, it->timestamp_); vo_->addImage(img, it->timestamp_);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_); visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_);
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map()); visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
}
if(vo_->stage() != svo::FrameHandlerMono::STAGE_DEFAULT_FRAME) if(vo_->stage() != svo::FrameHandlerMono::STAGE_DEFAULT_FRAME)
{ {