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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/test/test_feature_detection.cpp
+16 -23
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@@ -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