changed interface of feature extractor

svo/test/test_depth_filter.cpp

@@ -90,6 +90,7 @@ void DepthFilterTest::depthFilterCb(
 
 void DepthFilterTest::testReconstruction(
     std::string dataset_dir,
+
     std::string experiment_name)
 {
   vk::FileReader<vk::blender_utils::file_format::ImageNameAndPose> sequence_file_reader(dataset_dir+"/trajectory.txt");
@@ -103,7 +104,9 @@ void DepthFilterTest::testReconstruction(
   vk::Timer t;
   std::list<size_t> n_converged_per_iteration;
 
-  svo::feature_detection::DetectorPtr feature_detector(new svo::feature_detection::FastDetector());
+  svo::feature_detection::DetectorPtr feature_detector(
+      new svo::feature_detection::FastDetector(
+          cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels()));
   svo::DepthFilter::callback_t depth_filter_cb = boost::bind(&DepthFilterTest::depthFilterCb, this, _1, _2);
   depth_filter_ = new svo::DepthFilter(feature_detector, depth_filter_cb);
 

svo/test/test_feature_detection.cpp

@@ -45,11 +45,11 @@ void testCornerDetector()
   // Corner detection
   vk::Timer t;
   svo::feature_detection::Corners corners;
-  svo::feature_detection::FastDetector fast_detector;
+  svo::feature_detection::FastDetector fast_detector(
+      img.cols, img.rows, svo::Config::gridSize(), svo::Config::nPyrLevels());
   for(int i=0; i<100; ++i)
   {
-    fast_detector.detect(img_pyr, fts, svo::Config::gridSize(), svo::Config::nPyrLevels(),
-                         svo::Config::triangMinCornerScore(), &corners);
+    fast_detector.detect(img_pyr, fts, svo::Config::triangMinCornerScore(), &corners);
   }
   printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, corners.size());
 

svo/test/test_pose_optimizer.cpp

@@ -59,9 +59,9 @@ class PoseOptimizerTest {
 
     // detect features
     feature_detection::Corners corners;
-    feature_detection::FastDetector detector;
-    detector.detect(frame_->img_pyr_, frame_->fts_, Config::gridSize(),
-                    Config::nPyrLevels(), Config::triangMinCornerScore(), &corners);
+    feature_detection::FastDetector detector(
+        cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels());
+    detector.detect(frame_->img_pyr_, frame_->fts_, Config::triangMinCornerScore(), &corners);
     size_t n_fts = 0;
     for(feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it)
     {

svo/test/test_sparse_img_align.cpp

@@ -99,8 +99,7 @@ void SparseImgAlignTest::testSequence(
       // extract features, generate features with 3D points
       svo::feature_detection::Corners corners;
       feature_detector->detect(
-          frame_ref_->img_pyr_, frame_ref_->fts_, svo::Config::gridSize(),
-          svo::Config::nPyrLevels(), svo::Config::triangMinCornerScore(), &corners);
+          frame_ref_->img_pyr_, frame_ref_->fts_, svo::Config::triangMinCornerScore(), &corners);
       for(svo::feature_detection::Corners::iterator corner=corners.begin(); corner!=corners.end(); ++corner)
       {
         svo::Feature* ftr = new svo::Feature(frame_ref_.get(), Eigen::Vector2d(corner->x, corner->y), corner->level);
@@ -158,10 +157,11 @@ int main(int argc, char** argv)
 {
   std::string experiment_name("flying_room_1_rig_1_fast_minlev0");
   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;
   SparseImgAlignTest test;
+  svo::feature_detection::FastDetector detector(
+      test.cam_->width(), test.cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels());
   test.testSequence(dataset_dir, experiment_name, &detector);
   return 0;
 }