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refactored matcher class

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This commit is contained in:
Christian Forster
2014-04-29 21:43:24 +02:00
parent cdecc6325f
commit 44f87b860b
9 changed files with 192 additions and 196 deletions
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svo/test/test_matcher.cpp
+13 -10
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@@ -82,6 +82,7 @@ class MatcherTest {
void MatcherTest::testEpipolarSearchFullImg()
{
svo::Matcher matcher;
cv::Mat depthmap(frame_ref_->cam_->height(), frame_ref_->cam_->width(), CV_32FC1, cv::Scalar(0));
cv::Mat error_map(depthmap.rows, depthmap.cols, CV_32FC1, cv::Scalar(0));
cv::Mat mask(depthmap.rows, depthmap.cols, CV_8UC1, cv::Scalar(1));
@@ -95,10 +96,10 @@ void MatcherTest::testEpipolarSearchFullImg()
{
svo::Feature ftr(frame_ref_, Eigen::Vector2d(x,y), 0);
double depth_gt = depth_ref_.at<float>(y, x);
double depth_estimate, h_inv;
int res = svo::matcher::findEpipolarMatchDirect(
*frame_ref_, *frame_cur_, ftr,
depth_gt, fmax(depth_gt-depth_range,0.0), depth_gt+depth_range, false, depth_estimate, h_inv);
double depth_estimate;
int res = matcher.findEpipolarMatchDirect(
*frame_ref_, *frame_cur_, ftr, depth_gt, fmax(depth_gt-depth_range,0.0),
depth_gt+depth_range, depth_estimate);
if(res)
{
depthmap.at<float>(y,x) = depth_estimate;
@@ -148,21 +149,23 @@ void MatcherTest::testWarpAffine()
{
const int halfpatch_size = 15;
const int patch_size=halfpatch_size*2;
svo::matcher::PatchData md(patch_size);
svo::Matcher matcher;
double depth = 1.0;
Sophus::SE3 T_cur_ref(frame_cur_->T_f_w_*frame_ref_->T_f_w_.inverse());
Eigen::Vector2d px_cur(frame_cur_->cam_->world2cam(T_cur_ref*(ref_ftr_->f*depth)));
// compute reference patch
cv::Mat ref_patch(patch_size, patch_size, CV_8U, md.patch_with_border);
cv::Mat ref_patch(matcher.halfpatch_size_+1, matcher.halfpatch_size_+1,
CV_8U, matcher.patch_with_border_);
Eigen::Matrix2d A_cur_ref;
svo::matcher::warp::getWarpMatrixAffine(
svo::warp::getWarpMatrixAffine(
*cam_, *cam_, ref_ftr_->px, ref_ftr_->f, 1.0, T_cur_ref, ref_ftr_->level, A_cur_ref);
int level_cur = svo::matcher::warp::getBestSearchLevel(A_cur_ref, svo::Config::nPyrLevels()-1);
svo::matcher::warp::warpAffine(
A_cur_ref, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px, ref_ftr_->level, level_cur, md);
int level_cur = svo::warp::getBestSearchLevel(A_cur_ref, svo::Config::nPyrLevels()-1);
svo::warp::warpAffine(
A_cur_ref, ref_ftr_->frame->img_pyr_[ref_ftr_->level], ref_ftr_->px,
ref_ftr_->level, level_cur, matcher.halfpatch_size_+1, matcher.patch_with_border_);
// copy current patch
Eigen::Vector2i pxi(px_cur[0]/(1<<level_cur)+0.5, px_cur[1]/(1<<level_cur)+0.5);