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

svo/test/test_feature_detection.cpp

@@ -17,8 +17,10 @@
 #include <string.h>
 #include <svo/global.h>
 #include <svo/config.h>
+#include <svo/frame.h>
 #include <svo/feature_detection.h>
 #include <svo/depth_filter.h>
+#include <svo/feature.h>
 #include <vikit/timer.h>
 #include <vikit/vision.h>
 #include <vikit/abstract_camera.h>
@@ -37,38 +39,29 @@ void testCornerDetector()
   cv::Mat img(cv::imread(img_name, 0));
   assert(img.type() == CV_8UC1 && !img.empty());
 
-  svo::ImgPyr img_pyr;
-  svo::frame_utils::createImgPyramid(
-      img, max(svo::Config::nPyrLevels(), svo::Config::kltMaxLevel()+1), img_pyr);
-  svo::Features fts;
+  vk::AbstractCamera* cam = new vk::ATANCamera(752, 480, 0.511496, 0.802603, 0.530199, 0.496011, 0.934092);
+  svo::FramePtr frame(new svo::Frame(cam, img, 0.0));
 
   // Corner detection
   vk::Timer t;
-  svo::feature_detection::Corners corners;
+  svo::Features fts;
   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::triangMinCornerScore(), &corners);
+    fast_detector.detect(frame.get(), frame->img_pyr_, svo::Config::triangMinCornerScore(), fts);
   }
-  printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, corners.size());
+  printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, fts.size());
+  printf("Note, in this case, feature detection also contains the cam2world projection of the feature.\n");
+  cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3);
+  cv::cvtColor(img, img_rgb, CV_GRAY2RGB);
+  std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){
+    cv::circle(img_rgb, cv::Point2f(i->px[0], i->px[1]), 4*(i->level+1), cv::Scalar(0,255,0), 1);
+  });
+  cv::imshow("ref_img", img_rgb);
+  cv::waitKey(0);
 
-  if(false)
-  {
-    cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3);
-    cv::cvtColor(img, img_rgb, CV_GRAY2RGB);
-    for(svo::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 > svo::Config::triangMinCornerScore())
-      {
-        cv::circle(img_rgb, cv::Point2f(it->x, it->y), 4*(it->level+1), cv::Scalar(0,255,0), 1);
-      }
-    }
-    cv::imshow("ref_img", img_rgb);
-    cv::waitKey(0);
-  }
+  std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){ delete i; });
 }
 
 } // namespace

svo/test/test_pose_optimizer.cpp

@@ -58,25 +58,15 @@ class PoseOptimizerTest {
     vk::blender_utils::loadBlenderDepthmap(dataset_dir + "/depth/frame_000001_0.depth", *cam_, depthmap_);
 
     // detect features
-    feature_detection::Corners corners;
     feature_detection::FastDetector detector(
         cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels());
-    detector.detect(frame_->img_pyr_, frame_->fts_, Config::triangMinCornerScore(), &corners);
+    detector.detect(frame_.get(), frame_->img_pyr_, Config::triangMinCornerScore(), frame_->fts_);
     size_t n_fts = 0;
-    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())
-      {
-        Feature* ftr(new Feature(frame_.get(), Vector2d(it->x, it->y), it->level));
-        Point* point(new Point(frame_->f2w(ftr->f*depthmap_.at<float>(it->y, it->x))));
-        ftr->point = point;
-        ftr->frame = frame_.get();
-        frame_->addFeature(ftr);
-        ++n_fts;
-      }
-    }
+    std::for_each(frame_->fts_.begin(), frame_->fts_.end(), [&](Feature* i){
+      Point* point(new Point(frame_->f2w(i->f*depthmap_.at<float>(i->px[1], i->px[0])), i));
+      i->point = point;
+      ++n_fts;
+    });
     printf("Added %zu features to frame.\n", n_fts);
   }
 

svo/test/test_sparse_img_align.cpp

@@ -97,20 +97,16 @@ void SparseImgAlignTest::testSequence(
           dataset_dir+"/depth/"+iter->image_name_+"_0.depth", *cam_, depthmap);
 
       // extract features, generate features with 3D points
-      svo::feature_detection::Corners corners;
       feature_detector->detect(
-          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);
-        Eigen::Vector3d pt_pos_cur = ftr->f*depthmap.at<float>(corner->y, corner->x);
+          frame_ref_.get(), frame_ref_->img_pyr_, svo::Config::triangMinCornerScore(), frame_ref_->fts_);
+      std::for_each(frame_ref_->fts_.begin(), frame_ref_->fts_.end(), [&](svo::Feature* i) {
+        Eigen::Vector3d pt_pos_cur = i->f*depthmap.at<float>(i->px[1], i->px[0]);
         Eigen::Vector3d pt_pos_w = frame_ref_->T_f_w_.inverse()*pt_pos_cur;
-        svo::Point* pt = new svo::Point(pt_pos_w);
-        ftr->point = pt;
-        frame_ref_->addFeature(ftr);
-      }
+        svo::Point* pt = new svo::Point(pt_pos_w, i);
+        i->point = pt;
+      });
 
-      printf("Added %zu 3d pts to the reference frame.\n", corners.size());
+      printf("Added %zu 3d pts to the reference frame.\n", frame_ref_->nObs());
       T_prev_w = frame_ref_->T_f_w_;
       T_prevgt_w = T_gt_w;
       continue;