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added instructions on how to download test data. updated all tests for new dataset.

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This commit is contained in:
Christian Forster
2014-06-11 17:41:10 +02:00
parent 49da07745d
commit ab867a3047
9 changed files with 84 additions and 59 deletions
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svo/test/test_feature_alignment.cpp
+4 -4
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@@ -54,7 +54,7 @@ void generateRefPatchNoWarpInterpolate(const cv::Mat& img, const Vector2d& px,
int main(int argc, char **argv)
{
std::string img_name(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1/img/frame_000001_0.png");
std::string img_name(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d/img/frame_000002_0.png");
printf("Loading image '%s'\n", img_name.c_str());
cv::Mat img(cv::imread(img_name, 0));
assert(img.type() == CV_8UC1);
@@ -86,7 +86,7 @@ int main(int argc, char **argv)
svo::feature_alignment::align1D(img, dir, ref_patch_with_border.data, ref_patch, 3, px_est, h_inv);
}
Vector2d e = px_est-px_true;
printf("1000Xalign 1D took %fms, error = %fpx \t (ref i7-W520: 1.637000ms, Odroid-U2: ?, 0.008788px) \n", t.stop()*1000, e.norm());
printf("1000Xalign 1D took %fms, error = %fpx \t (ref i7-W520: 1.982000ms, 0.000033px) \n", t.stop()*1000, e.norm());
t.start();
for(int i=0; i<1000; ++i)
@@ -95,7 +95,7 @@ int main(int argc, char **argv)
svo::feature_alignment::align2D(img, ref_patch_with_border.data, ref_patch, 3, px_est, true);
}
e = px_est-px_true;
printf("1000Xalign 2D took %fms, error = %fpx \t (ref i7-W520: 2.147000ms, Odroid-U2: ?, 0.009632px)\n", t.stop()*1000, e.norm());
printf("1000Xalign 2D took %fms, error = %fpx \t (ref i7-W520: 2.306000ms, 0.015102px)\n", t.stop()*1000, e.norm());
#ifdef __SSE2__
// Note, this KLT implementation is not invariant to illuminatino changes!
@@ -106,7 +106,7 @@ int main(int argc, char **argv)
svo::feature_alignment::align2D_SSE2(img, ref_patch_with_border.data, ref_patch, 3, px_est);
}
e = px_est-px_true;
printf("1000Xalign 2D SSE2 %fms, error = %fpx \t (ref i7-W520: 0.548000ms, 0.023032px)\n", t.stop()*1000, e.norm());
printf("1000Xalign 2D SSE2 %fms, error = %fpx \t (ref i7-W520: 0.460000ms, 0.021881px)\n", t.stop()*1000, e.norm());
#endif
#ifdef __ARM_NEON__