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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_matcher.cpp
+16 -16
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@@ -31,14 +31,14 @@ class MatcherTest {
public:
MatcherTest()
{
cam_ = new vk::PinholeCamera(752, 480, 217.083701215, 217.083701215, 376, 240);
cam_ = new vk::PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0);
// load images
std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1");
std::string img_name(dataset_dir+"/img/frame_000071_0.png");
std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d");
std::string img_name(dataset_dir+"/img/frame_000002_0.png");
printf("Loading image '%s'\n", img_name.c_str());
cv::Mat img_ref(cv::imread(img_name, 0));
img_name = std::string(dataset_dir+"/img/frame_000097_0.png");
img_name = std::string(dataset_dir+"/img/frame_000006_0.png");
printf("Loading image '%s'\n", img_name.c_str());
cv::Mat img_cur(cv::imread(img_name, 0));
assert(!img_ref.empty() && !img_cur.empty());
@@ -49,15 +49,15 @@ class MatcherTest {
ref_ftr_ = new svo::Feature(frame_ref_, Eigen::Vector2d(300, 260), 0);
// set poses
Eigen::Vector3d t_w_ref(1.0054399967193604, 1.75655996799469, 4.610799789428711);
Eigen::Vector3d t_w_cur(-0.046640001237392426, 2.163439989089966, 4.6279802322387695);
Eigen::Quaterniond q_w_ref(0.015279541723430157, 0.7095794081687927, 0.7044594287872314, 0.0006494877743534744);
Eigen::Quaterniond q_w_cur(0.004395846277475357, -0.7776520252227783, -0.6286740899085999, -0.0026246386114507914);
frame_ref_->T_f_w_ = Sophus::SE3(q_w_ref.toRotationMatrix(), t_w_ref).inverse();
frame_cur_->T_f_w_ = Sophus::SE3(q_w_cur.toRotationMatrix(), t_w_cur).inverse();
Eigen::Vector3d t_w_ref(0.1131, 0.1131, 2.0000);
Eigen::Vector3d t_w_cur(0.5673, 0.5641, 2.0000);
Eigen::Quaterniond q_w_ref(0.0, 0.8227, 0.2149, 0.0);
Eigen::Quaterniond q_w_cur(0.0, 0.8235, 0.2130, 0.0);
frame_ref_->T_f_w_ = Sophus::SE3(q_w_ref, t_w_ref).inverse();
frame_cur_->T_f_w_ = Sophus::SE3(q_w_cur, t_w_cur).inverse();
// load ground-truth depth
vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/frame_000071_0.depth", *cam_, depth_ref_);
vk::blender_utils::loadBlenderDepthmap(dataset_dir+"/depth/frame_000002_0.depth", *cam_, depth_ref_);
}
virtual ~MatcherTest()
@@ -114,17 +114,17 @@ void MatcherTest::testEpipolarSearchFullImg()
}
// compute mean, median and variance of error in converged area
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);
printf("n converged: \t %zu mm (ref: 216114)\n", n_converged);
printf("mean error: \t %f mm (ref: 0.410084)\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 mm (ref: 1.462241)\n", *it*100);
printf("50-percentile: \t %f mm (ref: 0.083203)\n", *it*100);
it = errors.begin()+0.8*errors.size();
std::nth_element(errors.begin(), it, errors.end());
printf("80-percentile: \t %f mm (ref: 2.620957)\n", *it*100);
printf("80-percentile: \t %f mm (ref: 0.161824)\n", *it*100);
it = errors.begin()+0.95*errors.size();
std::nth_element(errors.begin(), it, errors.end());
printf("95-percentile: \t %f mm (ref: 4.154051)\n", *it*100);
printf("95-percentile: \t %f mm (ref: 0.263539)\n", *it*100);
// save results to file
std::ofstream output_stream;