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use EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION and use same CXX_FLAGS for rpg_svo rpg_vikit

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This commit is contained in:
akira_you
2017-03-26 07:57:52 +09:00
parent ec240827b1
commit 0e36dabb6f
7 changed files with 40 additions and 30 deletions
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svo/CMakeLists.txt
+1
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@@ -30,6 +30,7 @@ IF(DEBUG_OUTPUT)
ENDIF()
# Set build flags, set ARM_ARCHITECTURE environment variable on Odroid
# Set build flags. Set IS_ARM on odroid board as environment variable
SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
IF(DEFINED ENV{ARM_ARCHITECTURE})
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
svo/include/svo/depth_filter.h
+3 -3
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@@ -116,10 +116,10 @@ public:
/// Can be used to compute the Next-Best-View in parallel.
/// IMPORTANT! Make sure you hold a valid reference counting pointer to frame
/// so it is not being deleted while you use it.
void getSeedsCopy(const FramePtr& frame, std::list<Seed, aligned_allocator<Seed> >& seeds);
void getSeedsCopy(const FramePtr& frame, std::list<Seed>& seeds);
/// Return a reference to the seeds. This is NOT THREAD SAFE!
std::list<Seed, aligned_allocator<Seed> >& getSeeds() { return seeds_; }
std::list<Seed>& getSeeds() { return seeds_; }
/// Bayes update of the seed, x is the measurement, tau2 the measurement uncertainty
static void updateSeed(
@@ -137,7 +137,7 @@ public:
protected:
feature_detection::DetectorPtr feature_detector_;
callback_t seed_converged_cb_;
std::list<Seed, aligned_allocator<Seed> > seeds_;
std::list<Seed> seeds_;
boost::mutex seeds_mut_;
bool seeds_updating_halt_; //!< Set this value to true when seeds updating should be interrupted.
boost::thread* thread_;
svo/include/svo/global.h
+6 -4
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@@ -25,14 +25,16 @@
#include <math.h>
#include <Eigen/Core>
template <class T, class Allocator = Eigen::aligned_allocator<std::pair<const int,T>> >
using vectorA = std::vector< T, Allocator > ;
template <class T, class Allocator = Eigen::aligned_allocator<std::pair<const int,T>> >
using listA = std::list< T, Allocator > ;
#include <opencv2/opencv.hpp>
#include <sophus/se3.h>
#include <vikit/performance_monitor.h>
#include <boost/shared_ptr.hpp>
#include<Eigen/StdVector>
#ifndef RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED //Guard for rpg_vikit
#define RPG_SVO_VIKIT_IS_VECTOR_SPECIALIZED
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector3d)
EIGEN_DEFINE_STL_VECTOR_SPECIALIZATION(Eigen::Vector2d)
#endif
#ifdef SVO_USE_ROS
#include <ros/console.h>
svo/include/svo/initialization.h
+9 -9
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@@ -44,11 +44,11 @@ public:
protected:
vector<cv::Point2f> px_ref_; //!< keypoints to be tracked in reference frame.
vector<cv::Point2f> px_cur_; //!< tracked keypoints in current frame.
vectorA<Vector3d> f_ref_; //!< bearing vectors corresponding to the keypoints in the reference image.
vectorA<Vector3d> f_cur_; //!< bearing vectors corresponding to the keypoints in the current image.
vector<Vector3d> f_ref_; //!< bearing vectors corresponding to the keypoints in the reference image.
vector<Vector3d> f_cur_; //!< bearing vectors corresponding to the keypoints in the current image.
vector<double> disparities_; //!< disparity between first and second frame.
vector<int> inliers_; //!< inliers after the geometric check (e.g., Homography).
vectorA<Vector3d> xyz_in_cur_; //!< 3D points computed during the geometric check.
vector<Vector3d> xyz_in_cur_; //!< 3D points computed during the geometric check.
SE3 T_cur_from_ref_; //!< computed transformation between the first two frames.
};
@@ -56,7 +56,7 @@ protected:
void detectFeatures(
FramePtr frame,
vector<cv::Point2f>& px_vec,
vectorA<Vector3d>& f_vec);
vector<Vector3d>& f_vec);
/// Compute optical flow (Lucas Kanade) for selected keypoints.
void trackKlt(
@@ -64,17 +64,17 @@ void trackKlt(
FramePtr frame_cur,
vector<cv::Point2f>& px_ref,
vector<cv::Point2f>& px_cur,
vectorA<Vector3d>& f_ref,
vectorA<Vector3d>& f_cur,
vector<Vector3d>& f_ref,
vector<Vector3d>& f_cur,
vector<double>& disparities);
void computeHomography(
const vectorA<Vector3d>& f_ref,
const vectorA<Vector3d>& f_cur,
const vector<Vector3d>& f_ref,
const vector<Vector3d>& f_cur,
double focal_length,
double reprojection_threshold,
vector<int>& inliers,
vectorA<Vector3d>& xyz_in_cur,
vector<Vector3d>& xyz_in_cur,
SE3& T_cur_from_ref);
} // namespace initialization
svo/src/depth_filter.cpp
+4 -4
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@@ -135,7 +135,7 @@ void DepthFilter::removeKeyframe(FramePtr frame)
{
seeds_updating_halt_ = true;
lock_t lock(seeds_mut_);
std::list<Seed, aligned_allocator<Seed> >::iterator it=seeds_.begin();
std::list<Seed>::iterator it=seeds_.begin();
size_t n_removed = 0;
while(it!=seeds_.end())
{
@@ -200,7 +200,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
// for all the seeds in every frame!
size_t n_updates=0, n_failed_matches=0, n_seeds = seeds_.size();
lock_t lock(seeds_mut_);
std::list<Seed, aligned_allocator<Seed> >::iterator it=seeds_.begin();
std::list<Seed>::iterator it=seeds_.begin();
const double focal_length = frame->cam_->errorMultiplier2();
double px_noise = 1.0;
@@ -296,10 +296,10 @@ void DepthFilter::clearFrameQueue()
frame_queue_.pop();
}
void DepthFilter::getSeedsCopy(const FramePtr& frame, std::list<Seed, aligned_allocator<Seed> >& seeds)
void DepthFilter::getSeedsCopy(const FramePtr& frame, std::list<Seed>& seeds)
{
lock_t lock(seeds_mut_);
for(std::list<Seed, aligned_allocator<Seed> >::iterator it=seeds_.begin(); it!=seeds_.end(); ++it)
for(std::list<Seed>::iterator it=seeds_.begin(); it!=seeds_.end(); ++it)
{
if (it->ftr->frame == frame.get())
seeds.push_back(*it);
svo/src/initialization.cpp
+9 -9
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@@ -107,7 +107,7 @@ void KltHomographyInit::reset()
void detectFeatures(
FramePtr frame,
vector<cv::Point2f>& px_vec,
vectorA<Vector3d>& f_vec)
vector<Vector3d>& f_vec)
{
Features new_features;
feature_detection::FastDetector detector(
@@ -129,8 +129,8 @@ void trackKlt(
FramePtr frame_cur,
vector<cv::Point2f>& px_ref,
vector<cv::Point2f>& px_cur,
vectorA<Vector3d>& f_ref,
vectorA<Vector3d>& f_cur,
vector<Vector3d>& f_ref,
vector<Vector3d>& f_cur,
vector<double>& disparities)
{
const double klt_win_size = 30.0;
@@ -148,7 +148,7 @@ void trackKlt(
vector<cv::Point2f>::iterator px_ref_it = px_ref.begin();
vector<cv::Point2f>::iterator px_cur_it = px_cur.begin();
vectorA<Vector3d>::iterator f_ref_it = f_ref.begin();
vector<Vector3d>::iterator f_ref_it = f_ref.begin();
f_cur.clear(); f_cur.reserve(px_cur.size());
disparities.clear(); disparities.reserve(px_cur.size());
for(size_t i=0; px_ref_it != px_ref.end(); ++i)
@@ -169,16 +169,16 @@ void trackKlt(
}
void computeHomography(
const vectorA<Vector3d>& f_ref,
const vectorA<Vector3d>& f_cur,
const vector<Vector3d>& f_ref,
const vector<Vector3d>& f_cur,
double focal_length,
double reprojection_threshold,
vector<int>& inliers,
vectorA<Vector3d>& xyz_in_cur,
vector<Vector3d>& xyz_in_cur,
SE3& T_cur_from_ref)
{
vectorA<Vector2d > uv_ref(f_ref.size());
vectorA<Vector2d > uv_cur(f_cur.size());
vector<Vector2d > uv_ref(f_ref.size());
vector<Vector2d > uv_cur(f_cur.size());
for(size_t i=0, i_max=f_ref.size(); i<i_max; ++i)
{
uv_ref[i] = vk::project2d(f_ref[i]);
svo_ros/CMakeLists.txt
+8 -1
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@@ -5,12 +5,19 @@ SET(CMAKE_BUILD_TYPE Release) # Release, RelWithDebInfo
SET(CMAKE_VERBOSE_MAKEFILE OFF)
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${PROJECT_SOURCE_DIR}/CMakeModules/")
# Set build flags. Set IS_ARM on odroid board as environment variable
SET(CMAKE_CXX_FLAGS "-Wall -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
IF(DEFINED ENV{ARM_ARCHITECTURE})
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mfpu=neon -march=armv7-a")
ELSE()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -mmmx -msse -msse -msse2 -msse3 -mssse3")
ENDIF()
IF(CMAKE_COMPILER_IS_GNUCC)
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
ELSE()
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
ENDIF()
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")
# Add catkin and required ROS packages
FIND_PACKAGE(catkin REQUIRED COMPONENTS