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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_pipeline.cpp
+6 -6
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@@ -28,6 +28,7 @@
#include <opencv2/opencv.hpp>
#include <sophus/se3.h>
#include <iostream>
#include "test_utils.h"
namespace svo {
@@ -44,8 +45,6 @@ public:
BenchmarkNode::BenchmarkNode()
{
Config::traceName() = "benchmark";
Config::traceDir() = std::string(TEST_TRACE_DIR)+"/..";
cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240);
vo_ = new svo::FrameHandlerMono(cam_);
vo_->start();
@@ -62,8 +61,9 @@ void BenchmarkNode::runFromFolder()
for(int img_id = 1; img_id < 310; ++img_id)
{
// load image
std::stringstream ss;
ss << std::string(TEST_DATA_DIR) << "/flying_room_1_rig_1/img/frame_" << std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png";
std::stringstream ss;
ss << svo::test_utils::getDatasetDir() << "/flying_room_1_rig_1/img/frame_"
<< std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png";
if(img_id == 1)
std::cout << "reading image " << ss.str() << std::endl;
cv::Mat img(cv::imread(ss.str().c_str(), 0));
@@ -75,8 +75,8 @@ void BenchmarkNode::runFromFolder()
// display tracking quality
if(vo_->lastFrame() != NULL)
std::cout << "Frame-Id: " << vo_->lastFrame()->id_ << " \t"
<< "#Features: " << vo_->lastNumObservations() << " \t"
<< "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n";
<< "#Features: " << vo_->lastNumObservations() << " \t"
<< "Proc. Time: " << vo_->lastProcessingTime()*1000 << "ms \n";
}
}