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added utility function to get trace and dataset dir

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This commit is contained in:
Christian Forster
2014-03-31 11:16:47 +02:00
parent c60af2ece4
commit 6a0e376e90
10 changed files with 86 additions and 34 deletions
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svo/test/test_matcher.cpp
+11 -9
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@@ -22,6 +22,7 @@
#include <svo/frame.h>
#include <svo/config.h>
#include <svo/feature.h>
#include "test_utils.h"
namespace {
@@ -33,7 +34,7 @@ class MatcherTest {
cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240);
// load images
std::string dataset_dir(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1");
std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1");
std::string img_name(dataset_dir+"/img/frame_000071_0.png");
printf("Loading image '%s'\n", img_name.c_str());
cv::Mat img_ref(cv::imread(img_name, 0));
@@ -112,31 +113,32 @@ void MatcherTest::testEpipolarSearchFullImg()
}
// compute mean, median and variance of error in converged area
printf("n converged: \t %zu (ref: 194472)\n", n_converged);
printf("mean error: \t %f (ref: 1.0848)\n", sum_error*100/n_converged);
printf("n converged: \t %zu mm (ref: 169936)\n", n_converged);
printf("mean error: \t %f mm (ref: 1.912410)\n", sum_error*100/n_converged);
std::vector<double>::iterator it = errors.begin()+0.5*errors.size();
std::nth_element(errors.begin(), it, errors.end());
printf("50-percentile: \t %f (ref: 0.1343)\n", *it*100);
printf("50-percentile: \t %f mm (ref: 1.462241)\n", *it*100);
it = errors.begin()+0.8*errors.size();
std::nth_element(errors.begin(), it, errors.end());
printf("80-percentile: \t %f (ref: 0.3151)\n", *it*100);
printf("80-percentile: \t %f mm (ref: 2.620957)\n", *it*100);
it = errors.begin()+0.95*errors.size();
std::nth_element(errors.begin(), it, errors.end());
printf("95-percentile: \t %f (ref: 1.3753)\n", *it*100);
printf("95-percentile: \t %f mm (ref: 4.154051)\n", *it*100);
// save results to file
std::ofstream output_stream;
std::string output_filename(std::string(TEST_TRACE_DIR) + "/depthmap.bin");
std::string trace_dir(svo::test_utils::getTraceDir());
std::string output_filename(trace_dir + "/depthmap.bin");
output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc);
output_stream.write((const char *)depthmap.data, depthmap.rows*depthmap.cols*sizeof(float));
output_stream.close();
output_filename.assign(std::string(TEST_TRACE_DIR) + "/depthmap_error.bin");
output_filename.assign(trace_dir + "/depthmap_error.bin");
output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc);
output_stream.write((const char *)error_map.data, error_map.rows*error_map.cols*sizeof(float));
output_stream.close();
output_filename.assign(std::string(TEST_TRACE_DIR) + "/depthmap_mask.bin");
output_filename.assign(trace_dir + "/depthmap_mask.bin");
output_stream.open(output_filename.c_str(), std::ios::out | std::ios::binary | std::ios::trunc);
output_stream.write((const char *)mask.data, mask.rows*mask.cols*sizeof(uint8_t));
output_stream.close();