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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_pose_optimizer.cpp
+7 -7
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@@ -37,11 +37,11 @@ class PoseOptimizerTest {
public:
PoseOptimizerTest()
{
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 image
std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1");
std::string img_name(dataset_dir+"/img/frame_000001_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(cv::imread(img_name, 0));
assert(!img.empty());
@@ -50,12 +50,12 @@ class PoseOptimizerTest {
frame_.reset(new svo::Frame(cam_, img, 1.0));
// set pose
Eigen::Vector3d t_w_ref(2.139359951019287, -1.9544399976730347, 2.8595199584960938 );
Eigen::Quaterniond q_w_ref(0.0027939670253545046, 0.8382523059844971, 0.5443645715713501, -0.03150530532002449);
frame_->T_f_w_ = Sophus::SE3(q_w_ref.toRotationMatrix(), t_w_ref).inverse();
Eigen::Vector3d t_w_ref(0.1131, 0.1131, 2.0000);
Eigen::Quaterniond q_w_ref(0.0, 0.8227, 0.2149, 0.0);
frame_->T_f_w_ = Sophus::SE3(q_w_ref, t_w_ref).inverse();
// load ground-truth depth
vk::blender_utils::loadBlenderDepthmap(dataset_dir + "/depth/frame_000001_0.depth", *cam_, depthmap_);
vk::blender_utils::loadBlenderDepthmap(dataset_dir + "/depth/frame_000002_0.depth", *cam_, depthmap_);
// detect features
feature_detection::FastDetector detector(