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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_sparse_img_align.cpp
+3 -3
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@@ -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;
}