public/vio
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
svo/test/test_pipeline.cpp
+8 -4
View File
@@ -45,7 +45,7 @@ public:
BenchmarkNode::BenchmarkNode()
{
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);
vo_ = new svo::FrameHandlerMono(cam_);
vo_->start();
}
@@ -58,13 +58,13 @@ BenchmarkNode::~BenchmarkNode()
void BenchmarkNode::runFromFolder()
{
for(int img_id = 1; img_id < 310; ++img_id)
for(int img_id = 2; img_id < 188; ++img_id)
{
// load image
std::stringstream ss;
ss << svo::test_utils::getDatasetDir() << "/flying_room_1_rig_1/img/frame_"
ss << svo::test_utils::getDatasetDir() << "/sin2_tex2_h1_v8_d/img/frame_"
<< std::setw( 6 ) << std::setfill( '0' ) << img_id << "_0.png";
if(img_id == 1)
if(img_id == 2)
std::cout << "reading image " << ss.str() << std::endl;
cv::Mat img(cv::imread(ss.str().c_str(), 0));
assert(!img.empty());
@@ -74,9 +74,13 @@ 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";
// access the pose of the camera via vo_->lastFrame()->T_f_w_.
}
}
}