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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/src/depth_filter.cpp
+4 -4
View File
@@ -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
View File
@@ -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]);