add banchmark image alignment 2

main2.cpp

@@ -0,0 +1,42 @@
+//
+// Created by root on 8/5/21.
+//
+
+#include <iostream>
+#include "cl_class.h"
+#include <opencv2/opencv.hpp>
+#include <opencv2/core.hpp>
+#include <opencv2/core/mat.hpp>
+#include <sparse_img_align_gpu.h>
+// Maximum number of corners.
+#define FAST_COUNT (1 << 18)
+
+int main() {
+    opencl gpu;
+    gpu.make_kernel("compute_residual");
+    cv::Mat img=cv::Mat(cv::Size(700, 500),CV_8UC1);
+    gpu.write_buf(0,0,img);
+    gpu.write_buf(0,1,img);
+    cl_float3 pose[1]={0.0};
+    gpu.write_buf(0,2,1,pose);
+    gpu.write_buf(0,3,1,pose);
+    cl_float3 f[300]={0};
+    gpu.write_buf(0,4,300,f);
+    cl_float2 px[300]={0};
+    gpu.write_buf(0,5,300,px);
+    float  e[300]={0};
+    gpu.write_buf(0,7,300,e);
+    float H[300*9]={0};
+    gpu.write_buf(0,8,9*300,H);
+    cl_float3 J[300];
+    gpu.write_buf(0,9,300,J);
+    float chi2[300]={0.01};
+    gpu.write_buf(0,10,300,chi2);
+    for(int i=0;i<10;++i){
+        vio::SparseImgAlignGpu img_align(4, 2,30, vio::SparseImgAlignGpu::GaussNewton, true,&gpu);
+        img_align.run();
+    }
+    gpu.clear_buf();
+    std::cerr<<"finished\n";
+    return 0;
+}