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