82 lines
2.7 KiB
C++
82 lines
2.7 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#include <string.h>
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#include <svo/global.h>
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#include <svo/config.h>
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#include <svo/feature_detection.h>
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#include <svo/depth_filter.h>
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#include <vikit/timer.h>
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#include <vikit/vision.h>
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#include <vikit/abstract_camera.h>
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#include <vikit/atan_camera.h>
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#include "test_utils.h"
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namespace {
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using namespace Eigen;
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using namespace std;
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void testCornerDetector()
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{
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std::string img_name(svo::test_utils::getDatasetDir() + "/flying_room_1_rig_1/img/frame_000001_0.png");
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printf("Loading image '%s'\n", img_name.c_str());
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cv::Mat img(cv::imread(img_name, 0));
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assert(img.type() == CV_8UC1 && !img.empty());
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svo::ImgPyr img_pyr;
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svo::frame_utils::createImgPyramid(
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img, max(svo::Config::nPyrLevels(), svo::Config::kltMaxLevel()+1), img_pyr);
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svo::Features fts;
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// Corner detection
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vk::Timer t;
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svo::feature_detection::Corners corners;
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svo::feature_detection::FastDetector fast_detector(
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img.cols, img.rows, svo::Config::gridSize(), svo::Config::nPyrLevels());
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for(int i=0; i<100; ++i)
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{
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fast_detector.detect(img_pyr, fts, svo::Config::triangMinCornerScore(), &corners);
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}
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printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 8.06878ms, 416)\n", t.stop()*10, corners.size());
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if(false)
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{
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cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3);
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cv::cvtColor(img, img_rgb, CV_GRAY2RGB);
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for(svo::feature_detection::Corners::iterator it=corners.begin(); it!=corners.end(); ++it)
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{
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// we must check again if the score is above the threshold because the Corners
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// vector is initialized with dummy corners
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if(it->score > svo::Config::triangMinCornerScore())
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{
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cv::circle(img_rgb, cv::Point2f(it->x, it->y), 4*(it->level+1), cv::Scalar(0,255,0), 1);
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}
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}
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cv::imshow("ref_img", img_rgb);
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cv::waitKey(0);
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}
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}
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} // namespace
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int main(int argc, char **argv)
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{
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testCornerDetector();
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return 0;
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}
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