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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_sparse_img_align.cpp
+3 -3
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@@ -47,7 +47,7 @@ class SparseImgAlignTest {
};
SparseImgAlignTest::SparseImgAlignTest() :
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))
{}
SparseImgAlignTest::~SparseImgAlignTest()
@@ -82,7 +82,7 @@ void SparseImgAlignTest::testSequence(
assert(!img.empty());
// load pose
Sophus::SE3 T_w_gt = Sophus::SE3(iter->q_.toRotationMatrix(), iter->t_);
Sophus::SE3 T_w_gt(iter->q_, iter->t_);
Sophus::SE3 T_gt_w = T_w_gt.inverse(); // ground-truth
if(i==0)
@@ -152,7 +152,7 @@ void SparseImgAlignTest::testSequence(
int main(int argc, char** argv)
{
std::string experiment_name("flying_room_1_rig_1_fast_minlev0");
std::string dataset_dir(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1");
std::string dataset_dir(svo::test_utils::getDatasetDir() + "/sin2_tex2_h1_v8_d");
svo::Config::triangMinCornerScore() = 20;
svo::Config::kltMinLevel() = 0;
SparseImgAlignTest test;