void AbstractDetector::setExistingFeatures(const Features& fts)
{
std::for_each(fts.begin(), fts.end(), [&](Feature* i){
grid_occupancy_.at(
static_cast<int>(i->px[1]/cell_size_)*grid_n_cols_
+ static_cast<int>(i->px[0]/cell_size_)) = true;
});
}
int main(int argc, char *argv[])
{
CmdLine cmd;
std::string img_name;
cmd.add(make_option('i', img_name, "imgname"));
try {
if (argc == 1) throw std::string("Invalid command line parameter.");
cmd.process(argc, argv);
}
catch (const std::string& s) {
std::cerr << "Feature detector \nUsage: " << argv[0] << "\n"
<< "[-i|--imgname name]\n"
<< std::endl;
std::cerr << s << std::endl;
return EXIT_FAILURE;
}
cv::Mat img(cv::imread(img_name, 0));
assert(img.type() == CV_8UC1 && !img.empty());
AbstractCamera* cam = new PinholeCamera(752, 480, 315.5, 315.5, 376.0, 240.0);
FramePtr frame(new Frame(cam, img, 0.0));
Features fts;
FastDetector fast_detector(img.cols, img.rows, 25, 3);
Timer t;
for (int i = 0; i < 100; ++i)
{
fast_detector.detect(frame.get(), frame->img_pyr_, 20.0, fts);
}
printf("Fast corner detection took %f ms, %d corners detected (ref i7-W520: 7.166360ms, 40000)\n", t.stop() * 10, fts.size());
printf("Note, in this case, feature detection also contains the cam2world projection of the feature.\n");
cv::Mat img_rgb = cv::Mat(img.size(), CV_8UC3);
cv::cvtColor(img, img_rgb, CV_GRAY2RGB);
std::for_each(fts.begin(), fts.end(), [&](Feature* i){
cv::circle(img_rgb, cv::Point2f(i->px[0], i->px[1]), 4 * (i->level + 1), cv::Scalar(0, 255, 0), 1);
});
cv::imshow("ref_img", img_rgb);
cv::waitKey(0);
std::for_each(fts.begin(), fts.end(), [&](Feature* i){ delete i; });
return 0;
}
//-----------------------------------------------------------------------------
void CompilerInfo::DumpSupportedFeatures()
{
Features features;
FillMacros( features );
FillCxx11Features( features );
FillCxx14Features( features );
FillCxx17Features( features );
std::sort( features.begin(), features.end() );
ScopedParagraph paragraph( COMPILER_IDENTIFICATION );
for (const auto& feature : features)
{
std::cout << "> " << feature << std::endl;
}
}
