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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_pose_optimizer.cpp
+6 -16
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@@ -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);
}