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Dev #2

Merged
merged 22 commits into from
Apr 29, 2014
Merged

Dev #2

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38b7d0b
changed interface of feature extractor
cfo Apr 13, 2014
cf2b188
return fisher information
cfo Apr 16, 2014
7d59376
publish markers in benchmark node
cfo Apr 16, 2014
814336e
fix for non-synthetic datasets in benchmark script
cfo Apr 16, 2014
5fc8ef3
write associated measurements to file
cfo Apr 16, 2014
b49e436
plotting trajectory error
cfo Apr 22, 2014
0cbe4a6
can set start frame idx of dataset
cfo Apr 22, 2014
482b5c0
added more info to readme
cfo Apr 22, 2014
669b65c
added edglet feature type
cfo Apr 27, 2014
272ef79
formatting
cfo Apr 27, 2014
d905a9f
refactor
cfo Apr 27, 2014
692cb1b
added helper function to abstract feature extractor class
cfo Apr 27, 2014
3ad948a
commenting
cfo Apr 27, 2014
5e48a22
CRITICAL: Now publishing camera in world frame. before it was the opp…
cfo Apr 28, 2014
42a7222
changed interface of feature detector. now it returns directly a list…
cfo Apr 28, 2014
5a628bb
removed some debug output from depth filter
cfo Apr 28, 2014
69fb482
refactor
cfo Apr 29, 2014
922d732
refactor
cfo Apr 29, 2014
6ba28f5
removed unused disparity uncertainty computation
cfo Apr 29, 2014
335a255
Merge branch 'master' into dev
cfo Apr 29, 2014
39bd134
can now choose in which coordinate frame to publish the pose. by defa…
cfo Apr 29, 2014
406c423
set trace flags to false
cfo Apr 29, 2014
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can set start frame idx of dataset
  • Loading branch information
@cfo
cfo committed Apr 22, 2014
commit 0cbe4a6ca1a4c173209881d1bba783eb5708e8ad
20 changes: 10 additions & 10 deletions svo_ros/src/benchmark_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -124,21 +124,20 @@ void BenchmarkNode::runBenchmark(const std::string& dataset_dir)
dataset_reader.readAllEntries(dataset);

// process dataset
int first_frame = vk::getParam<int>("svo/dataset_first_frame", 0);
for(auto it = dataset.begin(); it != dataset.end() && ros::ok(); ++it, ++frame_count_)
{
// Read image
if(frame_count_ < first_frame)
continue;
std::string img_filename(dataset_dir + "/" + it->image_name_);
cv::Mat img(cv::imread(img_filename, 0));
if(img.empty()) {
SVO_ERROR_STREAM("Reading image "<<img_filename<<" failed.");
return;
}

vo_->addImage(img, it->timestamp_);

visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_);
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());

if(vo_->stage() == svo::FrameHandlerMono::STAGE_DEFAULT_FRAME)
tracePose(vo_->lastFrame()->T_f_w_.inverse(), it->timestamp_);
}
Expand Down Expand Up @@ -208,13 +207,14 @@ void BenchmarkNode::runBlenderBenchmark(const std::string& dataset_dir)
SVO_INFO_STREAM("Added "<<corners.size()<<" 3d pts to the reference frame.");
vo_->setFirstFrame(frame_ref);
SVO_INFO_STREAM("Set reference frame.");
continue;
}

SVO_DEBUG_STREAM("Processing image "<<it->image_name_<<".");
vo_->addImage(img, it->timestamp_);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_);
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
else
{
SVO_DEBUG_STREAM("Processing image "<<it->image_name_<<".");
vo_->addImage(img, it->timestamp_);
visualizer_.publishMinimal(img, vo_->lastFrame(), *vo_, it->timestamp_);
visualizer_.visualizeMarkers(vo_->lastFrame(), vo_->coreKeyframes(), vo_->map());
}

if(vo_->stage() != svo::FrameHandlerMono::STAGE_DEFAULT_FRAME)
{
Expand Down