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gfuse
2021-08-23 18:17:37 +02:00
parent 5af2bf2210
commit 022ceb2d35
3 changed files with 10 additions and 9 deletions
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GPU_version/vio/include/vio/cl_class.h
+5 -4
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@@ -58,7 +58,7 @@ public:
assert(error == CL_SUCCESS); assert(error == CL_SUCCESS);
event.wait(); event.wait();
memcpy(Map_buf,buf,sizeof(T) * i.first.second); memcpy(Map_buf,buf,sizeof(T) * i.first.second);
if(queue->enqueueUnmapMemObject(i.first.first,Map_buf,NULL,&event)!=CL_SUCCESS)std::cerr<<"Reload buffer on GPU failed"<<'\n'; assert(queue->enqueueUnmapMemObject(i.first.first,Map_buf,NULL,&event)==CL_SUCCESS);
event.wait(); event.wait();
} }
@@ -178,10 +178,11 @@ public:
return queue->finish(); return queue->finish();
} }
/*
template<typename T> template<typename T>
void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/, T* out){ void read(size_t id1/*kernal ID*///,size_t id2/*buffer ID*/, T* out){
queue->enqueueReadBuffer(_kernels.at(id1).read(id2).first, CL_TRUE, 0, sizeof(T) * _kernels.at(id1).read(id2).second, out); // queue->enqueueReadBuffer(_kernels.at(id1).read(id2).first, CL_TRUE, 0, sizeof(T) * _kernels.at(id1).read(id2).second, out);
} // }
template<typename T> template<typename T>
void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,size_t size/*size*/, T* out){ void read(size_t id1/*kernal ID*/,size_t id2/*buffer ID*/,size_t size/*size*/, T* out){
cl_int error; cl_int error;
GPU_version/vio/src/feature_detection.cpp
+3 -3
View File
@@ -80,10 +80,10 @@ void FastDetector::detect(
int icorner[1]={0}; int icorner[1]={0};
gpu_fast_->reload_buf(0,2,icorner); gpu_fast_->reload_buf(0,2,icorner);
gpu_fast_->run(0,img.cols,img.rows); gpu_fast_->run(0,img.cols,img.rows);
cl_int2 fast_corners[350000];
gpu_fast_->read(0,1,fast_corners);
int count[1]={0}; int count[1]={0};
gpu_fast_->read(0,2,count); gpu_fast_->read(0,2,1,count);
cl_int2 fast_corners[350000];
gpu_fast_->read(0,1,count[0],fast_corners);
for(uint i=0;i<count[0];++i) for(uint i=0;i<count[0];++i)
{ {
if(fast_corners[i].x<0 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0) if(fast_corners[i].x<0 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0)
GPU_version/vio/src/sparse_img_align_gpu.cpp
+2 -2
View File
@@ -73,7 +73,7 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame)
optimize(T_cur); optimize(T_cur);
} }
cl_float3 pos[1]={0}; cl_float3 pos[1]={0};
residual_->read(1,2,pos); residual_->read(1,2,1,pos);
cur_frame->T_f_w_ = SE2_5(pos[0].x,pos[0].y,pos[0].z); cur_frame->T_f_w_ = SE2_5(pos[0].x,pos[0].y,pos[0].z);
return 1; return 1;
} }
@@ -137,7 +137,7 @@ void SparseImgAlignGpu::update()
{ {
/// TODO the update situation may have a smarter solution /// TODO the update situation may have a smarter solution
cl_float3 pos[1]={0.0,0.0,0.0}; cl_float3 pos[1]={0.0,0.0,0.0};
residual_->read(1,2,pos); residual_->read(1,2,1,pos);
Sophus::SE2 update = Sophus::SE2(pos[0].z,Eigen::Vector2d(pos[0].x,pos[0].y)) * Sophus::SE2::exp(-1.0*x_); Sophus::SE2 update = Sophus::SE2(pos[0].z,Eigen::Vector2d(pos[0].x,pos[0].y)) * Sophus::SE2::exp(-1.0*x_);
pos[0].x=(float)update.translation()(0); pos[0].x=(float)update.translation()(0);
pos[0].y=(float)update.translation()(1); pos[0].y=(float)update.translation()(1);