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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_sparse_img_align.cpp
+7 -11
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@@ -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;