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changed memory allocation in matcher (#27)

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This commit is contained in:
Christian Forster
2014-07-07 17:08:06 +02:00
parent b4696fda0a
commit 2eabd6d4b4
2 changed files with 4 additions and 18 deletions
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svo/include/svo/matcher.h
+4 -4
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@@ -91,8 +91,8 @@ public:
{} {}
} options_; } options_;
uint8_t* patch_; uint8_t patch_[patch_size_*patch_size_] __attribute__ ((aligned (16)));
uint8_t* patch_with_border_; uint8_t patch_with_border_[(patch_size_+2)*(patch_size_+2)] __attribute__ ((aligned (16)));
Matrix2d A_cur_ref_; //!< affine warp matrix Matrix2d A_cur_ref_; //!< affine warp matrix
Vector2d epi_dir_; Vector2d epi_dir_;
double epi_length_; //!< length of epipolar line segment in pixels (only used for epipolar search) double epi_length_; //!< length of epipolar line segment in pixels (only used for epipolar search)
@@ -102,8 +102,8 @@ public:
Feature* ref_ftr_; Feature* ref_ftr_;
Vector2d px_cur_; Vector2d px_cur_;
Matcher(); Matcher() = default;
~Matcher(); ~Matcher() = default;
/// Find a match by directly applying subpix refinement. /// Find a match by directly applying subpix refinement.
/// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result! /// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result!
svo/src/matcher.cpp
-14
View File
@@ -18,7 +18,6 @@
#include <vikit/abstract_camera.h> #include <vikit/abstract_camera.h>
#include <vikit/vision.h> #include <vikit/vision.h>
#include <vikit/math_utils.h> #include <vikit/math_utils.h>
#include <vikit/aligned_mem.h>
#include <vikit/patch_score.h> #include <vikit/patch_score.h>
#include <svo/matcher.h> #include <svo/matcher.h>
#include <svo/frame.h> #include <svo/frame.h>
@@ -107,19 +106,6 @@ void warpAffine(
} // namespace warp } // namespace warp
Matcher::Matcher()
{
patch_ = vk::aligned_mem::aligned_alloc<uint8_t>(patch_size_*patch_size_, 16);
patch_with_border_ = vk::aligned_mem::aligned_alloc<uint8_t>((patch_size_+2)*(patch_size_+2), 16);
}
Matcher::~Matcher()
{
free(patch_);
free(patch_with_border_);
}
bool depthFromTriangulation( bool depthFromTriangulation(
const SE3& T_search_ref, const SE3& T_search_ref,
const Vector3d& f_ref, const Vector3d& f_ref,