add GPU svo under development

GPU_version/svo/test/test_feature_detection.cpp

@@ -0,0 +1,74 @@
+// This file is part of SVO - Semi-direct Visual Odometry.
+//
+// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
+// (Robotics and Perception Group, University of Zurich, Switzerland).
+//
+// SVO is free software: you can redistribute it and/or modify it under the
+// terms of the GNU General Public License as published by the Free Software
+// Foundation, either version 3 of the License, or any later version.
+//
+// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#include <string.h>
+#include <svo/global.h>
+#include <svo/config.h>
+#include <svo/frame.h>
+#include <svo/feature_detection.h>
+#include <svo/depth_filter.h>
+#include <svo/feature.h>
+#include <vikit/timer.h>
+#include <vikit/vision.h>
+#include <vikit/abstract_camera.h>
+#include <vikit/atan_camera.h>
+#include "test_utils.h"
+
+namespace {
+
+using namespace Eigen;
+using namespace std;
+
+void testCornerDetector()
+{
+  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());
+
+  vk::AbstractCamera* cam = new vk::ATANCamera(752, 480, 0.511496, 0.802603, 0.530199, 0.496011, 0.934092);
+  svo::FramePtr frame(new svo::Frame(cam, img, 0.0));
+
+  // Corner detection
+  vk::Timer t;
+  svo::Features fts;
+  svo::feature_detection::FastDetector fast_detector(
+      img.cols, img.rows, svo::Config::gridSize(), svo::Config::nPyrLevels());
+  for(int i=0; i<100; ++i)
+  {
+    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: 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);
+  std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){
+    cv::circle(img_rgb, cv::Point2f(i->px[0], i->px[1]), 4*(i->level+1), cv::Scalar(0,255,0), 1);
+  });
+  cv::imshow("ref_img", img_rgb);
+  cv::waitKey(0);
+
+  std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){ delete i; });
+}
+
+} // namespace
+
+
+int main(int argc, char **argv)
+{
+  testCornerDetector();
+  return 0;
+}