Function TEST

okvis_ros/okvis/okvis_cv/test/TestMultiFrame.cpp:48–97

#include "okvis/cameras/RadialTangentialDistortion.hpp"

TEST(MulitFrame, functions) {
  // instantiate all possible versions of test cameras
  std::vector<std::shared_ptr<const okvis::cameras::CameraBase>> cameras;
  std::vector<okvis::cameras::NCameraSystem::DistortionType> distortions;
  cameras.push_back(okvis::cameras::PinholeCamera<okvis::cameras::NoDistortion>::createTestObject());
  distortions.push_back(okvis::cameras::NCameraSystem::NoDistortion);
  cameras.push_back(okvis::cameras::PinholeCamera<okvis::cameras::RadialTangentialDistortion>::createTestObject());
  distortions.push_back(okvis::cameras::NCameraSystem::RadialTangential);
  cameras.push_back(okvis::cameras::PinholeCamera<okvis::cameras::EquidistantDistortion>::createTestObject());
  distortions.push_back(okvis::cameras::NCameraSystem::Equidistant);

  // the mounting transformations. The third one is opposite direction
  std::vector<std::shared_ptr<const okvis::kinematics::Transformation>> T_SC;
  T_SC.push_back(std::shared_ptr<okvis::kinematics::Transformation>(
      new okvis::kinematics::Transformation(Eigen::Vector3d(0.1, 0.1, 0.1), Eigen::Quaterniond(1, 0, 0, 0))));
  T_SC.push_back(std::shared_ptr<okvis::kinematics::Transformation>(
      new okvis::kinematics::Transformation(Eigen::Vector3d(0.1, -0.1, -0.1), Eigen::Quaterniond(1, 0, 0, 0))));
  T_SC.push_back(std::shared_ptr<okvis::kinematics::Transformation>(
      new okvis::kinematics::Transformation(Eigen::Vector3d(0.1, -0.1, -0.1), Eigen::Quaterniond(0, 0, 1, 0))));

  okvis::cameras::NCameraSystem nCameraSystem(T_SC, cameras, distortions, true);  // computes overlaps
  okvis::MultiFrame multiFrame(nCameraSystem, okvis::Time::now(), 1);

  for (size_t c = 0; c < cameras.size(); ++c) {
    // std::cout << "Testing MultiFrame with " << cameras.at(c)->type() << std::endl;

#ifdef __ARM_NEON__
    std::shared_ptr<cv::FeatureDetector> detector(new brisk::BriskFeatureDetector(34, 2));
#else
    std::shared_ptr<cv::FeatureDetector> detector(
        new brisk::ScaleSpaceFeatureDetector<brisk::HarrisScoreCalculator>(34, 2, 800, 450));
#endif

    std::shared_ptr<cv::DescriptorExtractor> extractor(new cv::BriskDescriptorExtractor(true, false));

    // create a stupid random image
    Eigen::Matrix<unsigned char, Eigen::Dynamic, Eigen::Dynamic> eigenImage(752, 480);
    eigenImage.setRandom();
    cv::Mat image(480, 752, CV_8UC1, eigenImage.data());

    // setup multifrmae
    multiFrame.setDetector(c, detector);
    multiFrame.setExtractor(c, extractor);
    multiFrame.setImage(c, image);

    // run
    multiFrame.detect(c);
    multiFrame.describe(c);
  }
}