75 lines
2.6 KiB
C++
75 lines
2.6 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/frame.h>
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#include <svo/feature_detection.h>
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#include <svo/depth_filter.h>
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#include <svo/feature.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() + "/sin2_tex2_h1_v8_d/img/frame_000002_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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vk::AbstractCamera* cam = new vk::ATANCamera(752, 480, 0.511496, 0.802603, 0.530199, 0.496011, 0.934092);
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svo::FramePtr frame(new svo::Frame(cam, img, 0.0));
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// Corner detection
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vk::Timer t;
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svo::Features fts;
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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(frame.get(), frame->img_pyr_, svo::Config::triangMinCornerScore(), fts);
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}
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printf("Fast corner detection took %f ms, %zu corners detected (ref i7-W520: 7.166360ms, 40000)\n", t.stop()*10, fts.size());
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printf("Note, in this case, feature detection also contains the cam2world projection of the feature.\n");
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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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std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){
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cv::circle(img_rgb, cv::Point2f(i->px[0], i->px[1]), 4*(i->level+1), cv::Scalar(0,255,0), 1);
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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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std::for_each(fts.begin(), fts.end(), [&](svo::Feature* i){ delete i; });
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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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