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tested and fixed benchmark node on synthetic dataset

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This commit is contained in:
Christian Forster
2014-03-24 15:02:21 +01:00
parent 1311ed95a0
commit f65c2b19f0
1 changed files with 7 additions and 3 deletions
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svo_ros/src/benchmark_node.cpp
+6 -2
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@@ -130,7 +130,7 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir)
void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir) void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir)
{ {
// create image reader and load dataset // create image reader and load dataset
std::string filename_benchmark(dataset_dir + "/images.txt"); std::string filename_benchmark(dataset_dir + "/trajectory.txt");
vk::FileReader<vk::blender_utils::file_format::ImageNameAndPose> dataset_reader(filename_benchmark); vk::FileReader<vk::blender_utils::file_format::ImageNameAndPose> dataset_reader(filename_benchmark);
dataset_reader.skipComments(); dataset_reader.skipComments();
if(!dataset_reader.next()) { if(!dataset_reader.next()) {
@@ -144,7 +144,7 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir)
for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_) for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_)
{ {
// Read image // Read image
std::string img_filename(dataset_dir + "/" + it->image_name_ + "_0.png"); std::string img_filename(dataset_dir + "/img/" + it->image_name_ + "_0.png");
cv::Mat img(cv::imread(img_filename, 0)); cv::Mat img(cv::imread(img_filename, 0));
if(img.empty()) { if(img.empty()) {
SVO_ERROR_STREAM("Reading image "<<img_filename<<" failed."); SVO_ERROR_STREAM("Reading image "<<img_filename<<" failed.");
@@ -177,6 +177,7 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir)
Eigen::Vector3d pt_pos_world = frame_ref->T_f_w_.inverse()*pt_pos_cur; Eigen::Vector3d pt_pos_world = frame_ref->T_f_w_.inverse()*pt_pos_cur;
svo::Point* point = new svo::Point(pt_pos_world, svo::Point::DEPTH); svo::Point* point = new svo::Point(pt_pos_world, svo::Point::DEPTH);
ftr->point = point; ftr->point = point;
ftr->point->addFrameRef(ftr);
frame_ref->addFeature(ftr); frame_ref->addFeature(ftr);
} }
SVO_INFO_STREAM("Added "<<corners.size()<<" 3d pts to the reference frame."); SVO_INFO_STREAM("Added "<<corners.size()<<" 3d pts to the reference frame.");
@@ -202,6 +203,9 @@ int main(int argc, char** argv)
ros::NodeHandle nh; ros::NodeHandle nh;
svo::BenchmarkNode benchmark(nh); svo::BenchmarkNode benchmark(nh);
std::string benchmark_dir(vk::getParam<std::string>("svo/dataset_directory")); std::string benchmark_dir(vk::getParam<std::string>("svo/dataset_directory"));
if(vk::getParam<bool>("svo/dataset_is_blender", false))
benchmark.runBlenderBenchmark(benchmark_dir);
else
benchmark.runBenchmark(benchmark_dir); benchmark.runBenchmark(benchmark_dir);
printf("BenchmarkNode finished.\n"); printf("BenchmarkNode finished.\n");
return 0; return 0;