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changed interface of feature detector. now it returns directly a list of features instead of only corners

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This commit is contained in:
Christian Forster
2014-04-28 16:43:00 +02:00
parent 5e48a22f4d
commit 42a7222b43
13 changed files with 96 additions and 121 deletions
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svo/src/initialization.cpp
+9 -14
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@@ -109,24 +109,19 @@ void detectFeatures(
vector<cv::Point2f>& px_vec,
vector<Vector3d>& f_vec)
{
feature_detection::Corners corners;
Features new_features;
feature_detection::FastDetector detector(
frame->img().cols, frame->img().rows, Config::gridSize(), Config::nPyrLevels());
detector.detect(frame->img_pyr_, frame->fts_, Config::triangMinCornerScore(), &corners);
detector.detect(frame.get(), frame->img_pyr_, Config::triangMinCornerScore(), new_features);
// now for all maximum corners, initialize a new seed
px_vec.clear(); px_vec.reserve(corners.size());
f_vec.clear(); f_vec.reserve(corners.size());
for(feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it)
{
// we must check again if the score is above the threshold because the Corners
// vector is initialized with dummy corners
if(it->score > Config::triangMinCornerScore())
{
px_vec.push_back(cv::Point2f(it->x, it->y));
f_vec.push_back(frame->c2f(it->x, it->y));
}
}
px_vec.clear(); px_vec.reserve(new_features.size());
f_vec.clear(); f_vec.reserve(new_features.size());
std::for_each(new_features.begin(), new_features.end(), [&](Feature* ftr){
px_vec.push_back(cv::Point2f(ftr->px[0], ftr->px[1]));
f_vec.push_back(ftr->f);
delete ftr;
});
}
void trackKlt(