[Personalrobots-commit] SF.net SVN: personalrobots:[8997] pkg/trunk/vision/visual_odometry

[<jam...@us...>]

Revision: 8997
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=8997&view=rev
Author:   jamesbowman
Date:     2009-01-07 19:36:46 +0000 (Wed, 07 Jan 2009)

Log Message:
-----------
Calonder re-enabled

Modified Paths:
--------------
    pkg/trunk/vision/visual_odometry/src/visualodometer.py
    pkg/trunk/vision/visual_odometry/test/directed.py

Modified: pkg/trunk/vision/visual_odometry/src/visualodometer.py
===================================================================
--- pkg/trunk/vision/visual_odometry/src/visualodometer.py	2009-01-07 18:53:18 UTC (rev 8996)
+++ pkg/trunk/vision/visual_odometry/src/visualodometer.py	2009-01-07 19:36:46 UTC (rev 8997)
@@ -277,32 +277,27 @@
       else:
         return (i, 0)
 
-if 0:
-  import calonder
+import calonder
 
-  class DescriptorSchemeCalonder(DescriptorScheme):
-    def __init__(self):
-      self.cl = calonder.classifier()
-      #self.cl.setThreshold(0.0)
-      self.cl.read('/u/prdata/calonder_trees/land50.trees')
-      self.ma = calonder.BruteForceMatcher()
+class DescriptorSchemeCalonder(DescriptorScheme):
+  def __init__(self):
+    self.cl = calonder.classifier()
+    #self.cl.setThreshold(0.0)
+    self.cl.read('/u/prdata/calonder_trees/land50.trees')
 
-    def collect(self, frame):
-      frame.descriptors = []
-      im = Image.fromstring("L", frame.size, frame.rawdata)
-      frame.matcher = calonder.BruteForceMatcher()
-      for (x,y,d) in frame.kp:
-        patch = im.crop((x-16,y-16,x+16,y+16))
-        sig = self.cl.getSparseSignature(patch.tostring(), patch.size[0], patch.size[1])
-        frame.descriptors.append(sig)
-        frame.matcher.addSignature(sig)
+  def collect(self, frame):
+    frame.descriptors = []
+    im = Image.fromstring("L", frame.size, frame.rawdata)
+    frame.matcher = calonder.BruteForceMatcher(len(frame.kp))
+    for (x,y,d) in frame.kp:
+      patch = im.crop((x-16,y-16,x+16,y+16))
+      sig = self.cl.getSignature(patch.tostring(), patch.size[0], patch.size[1])
+      frame.descriptors.append(sig)
+      frame.matcher.addSignature(sig)
 
-    def search(self, di, af1, hits):
-      match = af1.matcher.findMatch(di, hits)
-      return match
-else:
-  class DescriptorSchemeCalonder(DescriptorScheme):
-    pass
+  def search(self, di, af1, hits):
+    match = af1.matcher.findMatch(di, hits)
+    return match
 
 uniq_track_id = 100
 

Modified: pkg/trunk/vision/visual_odometry/test/directed.py
===================================================================
--- pkg/trunk/vision/visual_odometry/test/directed.py	2009-01-07 18:53:18 UTC (rev 8996)
+++ pkg/trunk/vision/visual_odometry/test/directed.py	2009-01-07 19:36:46 UTC (rev 8997)
@@ -246,7 +246,7 @@
           expected.append(P)
           afs.append(SparseStereoFrame(imgStereo(li), imgStereo(ri)))
 
-      vo = VisualOdometer(cam)
+      vo = VisualOdometer(cam, descriptor_scheme = DescriptorSchemeCalonder())
       for i,(af,ep) in enumerate(zip(afs, expected)):
         vo.handle_frame(af)
         if 0:
@@ -376,5 +376,5 @@
     rostest.unitrun('visual_odometry', 'directed', TestDirected)
     if 0:
         suite = unittest.TestSuite()
-        suite.addTest(TestDirected('xtest_sim'))
+        suite.addTest(TestDirected('test_sim'))
         unittest.TextTestRunner(verbosity=2).run(suite)


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