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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/CMakeLists.txt
+2 -9
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@@ -49,7 +49,7 @@ ELSE()
ENDIF()
# Add catkin and required ROS packages
FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp vikit_common vikit_ros)
FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib vikit_common vikit_ros)
# Add plain cmake packages
FIND_PACKAGE(G2O REQUIRED)
@@ -62,7 +62,7 @@ FIND_PACKAGE(Boost REQUIRED COMPONENTS system thread signals)
# Describe catkin Project
catkin_package(
DEPENDS Eigen OpenCV Sophus Boost fast
CATKIN_DEPENDS roscpp vikit_common vikit_ros
CATKIN_DEPENDS roscpp roslib vikit_common vikit_ros
INCLUDE_DIRS include
LIBRARIES svo
)
@@ -127,13 +127,6 @@ TARGET_LINK_LIBRARIES(svo ${LINK_LIBS})
################################################################################
# TESTS
IF(DEFINED ENV{SVO_DATASET_DIR})
ADD_DEFINITIONS(-DTEST_DATA_DIR=\"$ENV{SVO_DATASET_DIR}\")
ELSE()
ADD_DEFINITIONS(-DTEST_DATA_DIR=\"${PROJECT_SOURCE_DIR}/test/data\")
ENDIF()
ADD_DEFINITIONS(-DTEST_TRACE_DIR=\"${PROJECT_SOURCE_DIR}/test/results\")
ADD_EXECUTABLE(test_feature_align test/test_feature_alignment.cpp)
TARGET_LINK_LIBRARIES(test_feature_align svo)
svo/package.xml
+2
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@@ -14,11 +14,13 @@
<!-- Dependencies needed to compile this package. -->
<build_depend>roscpp</build_depend>
<build_depend>roslib</build_depend>
<build_depend>vikit_common</build_depend>
<build_depend>vikit_ros</build_depend>
<!-- Dependencies needed after this package is compiled. -->
<run_depend>roscpp</run_depend>
<run_depend>roslib</run_depend>
<run_depend>vikit_common</run_depend>
<run_depend>vikit_ros</run_depend>
</package>
svo/test/test_depth_filter.cpp
+6 -4
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@@ -32,6 +32,7 @@
#include <svo/feature.h>
#include <svo/point.h>
#include <svo/config.h>
#include "test_utils.h"
namespace {
@@ -151,14 +152,15 @@ void DepthFilterTest::testReconstruction(
}
// trace error
std::string trace_name(std::string(TEST_TRACE_DIR) + "/depth_filter_" + experiment_name + ".txt");
std::string trace_dir(svo::test_utils::getTraceDir());
std::string trace_name(trace_dir + "/depth_filter_" + experiment_name + ".txt");
std::ofstream ofs(trace_name.c_str());
for(std::list<ConvergedSeed>::iterator i=results_.begin(); i!=results_.end(); ++i)
ofs << i->x_ << ", " << i->y_ << ", " << fabs(i->error_) << std::endl;
ofs.close();
// trace convergence rate
trace_name = std::string(TEST_TRACE_DIR) + "/depth_filter_" + experiment_name + "_convergence.txt";
trace_name = trace_dir + "/depth_filter_" + experiment_name + "_convergence.txt";
ofs.open(trace_name.c_str());
for(std::list<size_t>::iterator it=n_converged_per_iteration.begin();
it!=n_converged_per_iteration.end(); ++it)
@@ -166,7 +168,7 @@ void DepthFilterTest::testReconstruction(
ofs.close();
// write ply file for pointcloud visualization in Meshlab
trace_name = std::string(TEST_TRACE_DIR) + "/depth_filter_" + experiment_name + ".ply";
trace_name = trace_dir + "/depth_filter_" + experiment_name + ".ply";
ofs.open(trace_name.c_str());
ofs << "ply" << std::endl
<< "format ascii 1.0" << std::endl
@@ -193,7 +195,7 @@ void DepthFilterTest::testReconstruction(
int main(int argc, char** argv)
{
DepthFilterTest test;
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 experiment_name("synth_fast_2d");
test.testReconstruction(dataset_dir, experiment_name);
return 0;
svo/test/test_feature_alignment.cpp
+3 -1
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@@ -19,6 +19,7 @@
#include <svo/feature_alignment.h>
#include <vikit/timer.h>
#include <vikit/aligned_mem.h>
#include "test_utils.h"
#if __ARM_NEON__
#include <arm_neon.h>
#endif
@@ -52,7 +53,8 @@ void generateRefPatchNoWarpInterpolate(const cv::Mat& img, const Vector2d& px,
int main(int argc, char **argv)
{
std::string img_name(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1/img/frame_000001_0.png");
std::string img_name(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1/img/frame_000001_0.png");
printf("Loading image '%s'\n", img_name.c_str());
cv::Mat img(cv::imread(img_name, 0));
assert(img.type() == CV_8UC1);
svo/test/test_feature_detection.cpp
+2 -1
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@@ -23,6 +23,7 @@
#include <vikit/vision.h>
#include <vikit/abstract_camera.h>
#include <vikit/atan_camera.h>
#include "test_utils.h"
namespace {
@@ -31,7 +32,7 @@ using namespace std;
void testCornerDetector()
{
std::string img_name(std::string(TEST_DATA_DIR) + "/flying_room_1_rig_1/img/frame_000001_0.png");
std::string img_name(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1/img/frame_000001_0.png");
printf("Loading image '%s'\n", img_name.c_str());
cv::Mat img(cv::imread(img_name, 0));
assert(img.type() == CV_8UC1 && !img.empty());
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();
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";
}
}
svo/test/test_pose_optimizer.cpp
+2 -1
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@@ -25,6 +25,7 @@
#include <svo/config.h>
#include <svo/feature_detection.h>
#include <svo/pose_optimizer.h>
#include "test_utils.h"
namespace {
@@ -39,7 +40,7 @@ class PoseOptimizerTest {
cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240);
// load image
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_000001_0.png");
printf("Loading image '%s'\n", img_name.c_str());
cv::Mat img(cv::imread(img_name, 0));
svo/test/test_sparse_img_align.cpp
+5 -3
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@@ -26,6 +26,7 @@
#include <svo/point.h>
#include <svo/feature.h>
#include <svo/config.h>
#include "test_utils.h"
namespace {
@@ -68,7 +69,8 @@ void SparseImgAlignTest::testSequence(
std::list<double> translation_error;
Sophus::SE3 T_prev_w, T_prevgt_w;
std::string trace_name(std::string(TEST_TRACE_DIR) + "/sparse_img_align_" + experiment_name + "_trans_estimate.txt");
std::string trace_dir(svo::test_utils::getTraceDir());
std::string trace_name(trace_dir + "/sparse_img_align_" + experiment_name + "_trans_estimate.txt");
std::ofstream ofs(trace_name.c_str());
for(int i=0; iter != sequence.end() && i<30; ++iter, ++i)
{
@@ -142,7 +144,7 @@ void SparseImgAlignTest::testSequence(
ofs.close();
// trace error
trace_name = std::string(TEST_TRACE_DIR) + "/sparse_img_align_" + experiment_name + "_trans_error.txt";
trace_name = trace_dir + "/sparse_img_align_" + experiment_name + "_trans_error.txt";
ofs.open(trace_name.c_str());
for(std::list<double>::iterator it=translation_error.begin(); it!=translation_error.end(); ++it)
ofs << *it << std::endl;
@@ -155,7 +157,7 @@ void SparseImgAlignTest::testSequence(
int main(int argc, char** argv)
{
std::string experiment_name("flying_room_1_rig_1_fast_minlev0");
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");
svo::feature_detection::FastDetector detector;
svo::Config::triangMinCornerScore() = 20;
svo::Config::kltMinLevel() = 0;
svo/test/test_utils.h
+47
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@@ -0,0 +1,47 @@
// This file is part of SVO - Semi-direct Visual Odometry.
//
// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
// (Robotics and Perception Group, University of Zurich, Switzerland).
//
// SVO is free software: you can redistribute it and/or modify it under the
// terms of the GNU General Public License as published by the Free Software
// Foundation, either version 3 of the License, or any later version.
//
// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#ifndef TEST_UTILS_H_
#define TEST_UTILS_H_
#include <string.h>
#include <cstdlib> // for getenv
#include <ros/package.h>
#include <vikit/params_helper.h>
namespace svo {
namespace test_utils {
std::string getDatasetDir()
{
std::string dataset_dir(ros::package::getPath("svo")+"/test/data");
const char* env_dir = std::getenv("SVO_DATASET_DIR");
if(env_dir != NULL)
dataset_dir = std::string(env_dir);
return dataset_dir;
}
std::string getTraceDir()
{
std::string default_dir(ros::package::getPath("svo")+"/test/results");
return vk::getParam<std::string>("svo/trace_dir", default_dir);
}
} // namespace test_utils
} // namespace svo
#endif // TEST_UTILS_H_