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());
PinholeCamera *cam = new PinholeCamera(640.0, 480.0,
517.306408, 516.469215, 318.643040, 255.313989,
0.262383, -0.953104, -0.005358, 0.002628, 1.163314);
ORBextractor *extractor = new ORBextractor();
Timer timer;
Frame frame(cam, img, 0, extractor);
double time = timer.Stop();
std::cout << "Original time " << time<< std::endl;
std::cout << "frame keypoint num " << frame.keypoints_num_ << std::endl;
cv::Mat img_rgb(img.size(), CV_8UC3);
cv::cvtColor(img, img_rgb, CV_GRAY2RGB);
std::vector<Feature> cv_feats = frame.features_;
std::for_each(cv_feats.begin(), cv_feats.end(), [&](Feature i){
cv::circle(img_rgb, i.keypoint_.pt, 4 * (i.keypoint_.octave + 1), cv::Scalar(0, 255, 0), 1);
cv::circle(img_rgb, i.undistored_keypoint_.pt, 4 * (i.undistored_keypoint_.octave + 1), cv::Scalar(0, 0, 255), 1);
});
cv::imshow("Original", img_rgb);
// 测试先对图像进行畸变矫正后进行特征提取
cv::Mat un_img;
std::vector<cv::KeyPoint> cv_keypoints;
cv::Mat cv_descs;
timer.Start();
cam->undistortImage(img, un_img);
(*extractor)(un_img, cv::Mat(), cv_keypoints, cv_descs);
time = timer.Stop();
std::cout << "Undistort frame time " << time << std::endl;
std::cout << "Undistort frame keypoint num " << cv_keypoints.size() << std::endl;
cv::Mat img_opencv(img.size(), CV_8UC3);
cv::cvtColor(un_img, img_opencv, CV_GRAY2RGB);
std::for_each(cv_keypoints.begin(), cv_keypoints.end(), [&](cv::KeyPoint i){
cv::circle(img_opencv, i.pt, 4 * (i.octave + 1), cv::Scalar(0, 255, 0), 1);
});
cv::imshow("Undistort", img_opencv);
cv::waitKey(0);
delete cam;
delete extractor;
getchar();
return 0;
}
