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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_detection.cpp
+2 -2
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@@ -34,7 +34,7 @@ using namespace std;
void testCornerDetector()
{
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 && !img.empty());
@@ -51,7 +51,7 @@ void testCornerDetector()
{
fast_detector.detect(frame.get(), frame->img_pyr_, svo::Config::triangMinCornerScore(), fts);
}
printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, fts.size());
printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 7.166360ms, 40000)\n", t.stop()*10, fts.size());
printf("Note, in this case, feature detection also contains the cam2world projection of the feature.\n");
cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3);
cv::cvtColor(img, img_rgb, CV_GRAY2RGB);