Not recognized default option

[GoogleCodeExporter]

What steps will reproduce the problem?
1. Compiling a simple code to feed fovis from a data-set
2. On initializing in my constructor (see code below), I get:

Illegal value of [0.005] for float option [fast-threshold-adaptive-gain]

and an assert a couple of lines later in:

double optionsGetDoubleOrFromDefault(const VisualOdometryOptions& options, 
std::string name,

seg faults.

What is the expected output? What do you see instead?

Expected: motion estimates

I see: Illegal value of [0.005] for float option [fast-threshold-adaptive-gain]

What version of the product are you using? On what operating system?

1.0.0
Ubuntu 13.04

Please provide any additional information below.

fovis::CameraIntrinsicsParameters rgb_params;
  memset(&rgb_params, 0, sizeof(fovis::CameraIntrinsicsParameters));
  rgb_params.width = 640;
  rgb_params.height = 480;
  rgb_params.fx = 528.49404721; 
  rgb_params.fy = rgb_params.fx;
  rgb_params.cx = 640 / 2.0;
  rgb_params.cy = 480 / 2.0;
  fovis::Rectification rect(rgb_params);

  sizeImage = 640*480;
  grayBuffer = new uint8_t[sizeImage];
  depthBuffer = new float[sizeImage];
  depthIMG = new fovis::DepthImage(rgb_params, rgb_params.width, rgb_params.height);

  // If we wanted to play around with the different VO parameters, we could set them here in the "options" variable.
  fovis::VisualOdometryOptions options = fovis::VisualOdometry::getDefaultOptions();

  // setup the visual odometry
  odom = new fovis::VisualOdometry(&rect, options);

Original issue reported on code.google.com by pbustosg...@gmail.com on 22 Sep 2013 at 11:32

[GoogleCodeExporter]

Can you try a git checkout and run the TUM dataset example?  Let me know if 
that works for you.

Original comment by ashu...@gmail.com on 23 Sep 2013 at 5:17

[GoogleCodeExporter]

Hi, thanks for the quick answer.

The git code runs just as it is, but in my system there is a "locale" problem 
with the numbers inside strings.

I add the following line in getDefaultOptions()

VisualOdometryOptions
VisualOdometry::getDefaultOptions()
{
  VisualOdometryOptions r;
  std::locale::global(std::locale("C"));

  ....

}

I continue now with the integration.

Thanks

Original comment by pbustosg...@gmail.com on 29 Sep 2013 at 7:48

[GoogleCodeExporter]

It works now and it is integrated in http://robocomp.org

Thanks!

Original comment by pbustosg...@gmail.com on 3 Oct 2013 at 7:11

[GoogleCodeExporter]

I've committed an alternate fix that does not require setting the global 
locale.  Please try it out and let me know if it works for you.

Original comment by ashu...@gmail.com on 4 Oct 2013 at 12:14

[GoogleCodeExporter]

It works ok. Thanks.

One more question. What is the expected framerate? I'm running it on a i7 and 
only get 3fps. The paper suggests a few msecs per frame.

thanks

Pablo.

Original comment by pbustosg...@gmail.com on 8 Oct 2013 at 11:19

[GoogleCodeExporter]

You should expect at most a few milliseconds per frame.  If you're not getting 
that performance, then you can use a profiler to identify what's taking so long.

Original comment by ashu...@gmail.com on 8 Oct 2013 at 2:56

• Changed state: Fixed

[GoogleCodeExporter]

It works great now. I was linking agaisnt the old library.
Thanks.

Original comment by pbustosg...@gmail.com on 15 Oct 2013 at 6:30