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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_ros/src/benchmark_node.cpp
+3 -3
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@@ -188,10 +188,10 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir)
dataset_dir+"/depth/"+it->image_name_+"_0.depth", *cam_, depthmap);
// extract features, generate features with 3D points
svo::feature_detection::FastDetector detector;
svo::feature_detection::FastDetector detector(
cam_->width(), cam_->height(), svo::Config::gridSize(), svo::Config::nPyrLevels());
svo::feature_detection::Corners corners;
detector.detect(frame_ref->img_pyr_, frame_ref->fts_, svo::Config::gridSize(),
svo::Config::nPyrLevels(), svo::Config::triangMinCornerScore(), &corners);
detector.detect(frame_ref->img_pyr_, frame_ref->fts_, svo::Config::triangMinCornerScore(), &corners);
for(auto corner=corners.begin(); corner!=corners.end(); ++corner)
{
if(corner->score < Config::triangMinCornerScore())