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changed interface of feature extractor

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This commit is contained in:
Christian Forster
2014-04-13 22:05:18 +02:00
parent d150ef5615
commit 38b7d0b9bc
12 changed files with 119 additions and 58 deletions
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svo/test/test_feature_detection.cpp
+3 -3
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@@ -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());