diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/CXX.includecache b/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/CXX.includecache index 93f8c48..9885533 100644 --- a/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/CXX.includecache +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/CXX.includecache @@ -10,6 +10,94 @@ Eigen/Core - +../include/vio/aligned_mem.h +string +- +string.h +- +cassert +- +cstdlib +- + +../include/vio/atan_camera.h +stdlib.h +- +iostream +- +string +- +Eigen/Eigen +- +vio/abstract_camera.h +- +vio/math_utils.h +- + +../include/vio/camera_loader.h +string +- +vio/abstract_camera.h +- +vio/atan_camera.h +- +vio/params_helper.h +- + +../include/vio/cl.hpp +malloc.h +- +CL/cl_d3d10.h +- +CL/cl_dx9_media_sharing.h +- +intrin.h +- +CL/cl_ext.h +- +OpenCL/opencl.h +- +CL/opencl.h +- +atomic +- +utility +- +limits +- +iterator +- +exception +- +vector +- +string +- +alloca.h +- +cstring +- + +../include/vio/cl_class.h +vio/cl.hpp +- +iostream +- +vector +- +algorithm +- +fstream +- +exception +- +CL/opencl.h +- +opencv2/opencv.hpp +- +vio/abstract_camera.h +- + ../include/vio/config.h string - @@ -18,10 +106,40 @@ stdint.h stdio.h - +../include/vio/depth_filter.h +queue +- +boost/thread.hpp +- +boost/function.hpp +- +vio/global.h +- +vio/feature_detection.h +- +vio/matcher.h +- + ../include/vio/feature.h vio/frame.h - +../include/vio/feature_detection.h +vio/global.h +- +vio/frame.h +- +vio/cl_class.h +- + +../include/vio/for_it.hpp +iostream +- +vector +- +tuple +- + ../include/vio/frame.h sophus/se3.h - @@ -34,6 +152,38 @@ boost/noncopyable.hpp vio/global.h - +../include/vio/frame_handler_base.h +queue +- +boost/noncopyable.hpp +- +boost/function.hpp +- +boost/thread.hpp +- +vio/global.h +- +vio/map.h +- + +../include/vio/frame_handler_mono.h +set +- +vio/abstract_camera.h +- +vio/frame_handler_base.h +- +vio/reprojector.h +- +vio/initialization.h +- +vio/ukf.h +- +vio/cl_class.h +- +vio/sparse_img_align_gpu.h +- + ../include/vio/global.h list - @@ -62,6 +212,12 @@ Eigen/StdVector ros/console.h - +../include/vio/initialization.h +vio/global.h +- +vio/cl_class.h +- + ../include/vio/map.h queue - @@ -84,17 +240,107 @@ Eigen/StdVector sophus/se3.h - +../include/vio/nlls_solver.h +stdint.h +- +stdio.h +- +iostream +- +math.h +- +Eigen/Core +- +Eigen/StdVector +- +vio/math_utils.h +- +vio/robust_cost.h +- +vio/nlls_solver_impl.hpp +../include/vio/vio/nlls_solver_impl.hpp + +../include/vio/nlls_solver_impl.hpp +stdexcept +- + +../include/vio/output_helper.h +string +- +ros/ros.h +- +Eigen/Core +- +sophus/se3.h +- +tf/transform_broadcaster.h +- + +../include/vio/params_helper.h +string +- +ros/ros.h +- + ../include/vio/point.h boost/noncopyable.hpp - vio/global.h - +../include/vio/pose_optimizer.h +vio/global.h +- + ../include/vio/reprojector.h vio/global.h - vio/matcher.h - +CL/cl.h +- +vio/cl_class.h +- +vio/initialization.h +- + +../include/vio/robust_cost.h +vector +- +stdlib.h +- +memory +- + +../include/vio/sparse_img_align.h +vio/nlls_solver.h +- +vio/global.h +- + +../include/vio/sparse_img_align_gpu.h +vio/nlls_solver.h +- +vio/global.h +- +vio/cl_class.h +- +vio/frame.h +- +vio/feature.h +- +vio/config.h +- +vio/point.h +- +vio/abstract_camera.h +- +vio/vision.h +- +vio/math_utils.h +- +algorithm +- ../include/vio/timer.h sys/time.h @@ -104,6 +350,458 @@ stdio.h unistd.h - +../include/vio/ukf.h +iostream +- +fstream +- +vio/config.h +../include/vio/vio/config.h +Eigen/Dense +- + +../include/vio/vision.h +vio/aligned_mem.h +- +Eigen/Core +- +opencv2/opencv.hpp +- + +../include/vio/visualizer.h +queue +- +ros/ros.h +- +vio/global.h +- +visualization_msgs/Marker.h +- +visualization_msgs/MarkerArray.h +- +tf/transform_broadcaster.h +- +image_transport/image_transport.h +- +boost/thread.hpp +- +boost/shared_ptr.hpp +- +vio/ukf.h +- + +/opt/ros/melodic/include/cv_bridge/cv_bridge.h +sensor_msgs/Image.h +- +sensor_msgs/CompressedImage.h +- +sensor_msgs/image_encodings.h +- +ros/static_assert.h +- +opencv2/core/core.hpp +- +opencv2/imgproc/imgproc.hpp +- +opencv2/imgproc/types_c.h +- +stdexcept +- + +/opt/ros/melodic/include/geometry_msgs/Point.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + +/opt/ros/melodic/include/geometry_msgs/PointStamped.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +geometry_msgs/Point.h +- + +/opt/ros/melodic/include/geometry_msgs/Pose.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +geometry_msgs/Point.h +- +geometry_msgs/Quaternion.h +- + +/opt/ros/melodic/include/geometry_msgs/PoseStamped.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +geometry_msgs/Pose.h +- + +/opt/ros/melodic/include/geometry_msgs/PoseWithCovariance.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +geometry_msgs/Pose.h +- + +/opt/ros/melodic/include/geometry_msgs/PoseWithCovarianceStamped.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +geometry_msgs/PoseWithCovariance.h +- + +/opt/ros/melodic/include/geometry_msgs/Quaternion.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + +/opt/ros/melodic/include/geometry_msgs/QuaternionStamped.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +geometry_msgs/Quaternion.h +- + +/opt/ros/melodic/include/geometry_msgs/Transform.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +geometry_msgs/Vector3.h +- +geometry_msgs/Quaternion.h +- + +/opt/ros/melodic/include/geometry_msgs/TransformStamped.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +geometry_msgs/Transform.h +- + +/opt/ros/melodic/include/geometry_msgs/Twist.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +geometry_msgs/Vector3.h +- +geometry_msgs/Vector3.h +- + +/opt/ros/melodic/include/geometry_msgs/TwistStamped.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +geometry_msgs/Twist.h +- + +/opt/ros/melodic/include/geometry_msgs/Vector3.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + +/opt/ros/melodic/include/geometry_msgs/Vector3Stamped.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +geometry_msgs/Vector3.h +- + +/opt/ros/melodic/include/image_transport/camera_publisher.h +ros/ros.h +- +sensor_msgs/Image.h +- +sensor_msgs/CameraInfo.h +- +image_transport/single_subscriber_publisher.h +/opt/ros/melodic/include/image_transport/image_transport/single_subscriber_publisher.h + +/opt/ros/melodic/include/image_transport/camera_subscriber.h +ros/ros.h +- +sensor_msgs/CameraInfo.h +- +sensor_msgs/Image.h +- +image_transport/transport_hints.h +/opt/ros/melodic/include/image_transport/image_transport/transport_hints.h + +/opt/ros/melodic/include/image_transport/exception.h +stdexcept +- + +/opt/ros/melodic/include/image_transport/image_transport.h +image_transport/publisher.h +/opt/ros/melodic/include/image_transport/image_transport/publisher.h +image_transport/subscriber.h +/opt/ros/melodic/include/image_transport/image_transport/subscriber.h +image_transport/camera_publisher.h +/opt/ros/melodic/include/image_transport/image_transport/camera_publisher.h +image_transport/camera_subscriber.h +/opt/ros/melodic/include/image_transport/image_transport/camera_subscriber.h + +/opt/ros/melodic/include/image_transport/loader_fwds.h + +/opt/ros/melodic/include/image_transport/publisher.h +ros/ros.h +- +sensor_msgs/Image.h +- +image_transport/single_subscriber_publisher.h +/opt/ros/melodic/include/image_transport/image_transport/single_subscriber_publisher.h +image_transport/exception.h +/opt/ros/melodic/include/image_transport/image_transport/exception.h +image_transport/loader_fwds.h +/opt/ros/melodic/include/image_transport/image_transport/loader_fwds.h + +/opt/ros/melodic/include/image_transport/single_subscriber_publisher.h +boost/noncopyable.hpp +- +boost/function.hpp +- +sensor_msgs/Image.h +- + +/opt/ros/melodic/include/image_transport/subscriber.h +ros/ros.h +- +sensor_msgs/Image.h +- +image_transport/transport_hints.h +/opt/ros/melodic/include/image_transport/image_transport/transport_hints.h +image_transport/exception.h +/opt/ros/melodic/include/image_transport/image_transport/exception.h +image_transport/loader_fwds.h +/opt/ros/melodic/include/image_transport/image_transport/loader_fwds.h + +/opt/ros/melodic/include/image_transport/transport_hints.h +ros/ros.h +- + +/opt/ros/melodic/include/ros/advertise_options.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/message_traits.h +/opt/ros/melodic/include/ros/ros/message_traits.h +common.h +/opt/ros/melodic/include/ros/common.h + +/opt/ros/melodic/include/ros/advertise_service_options.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/service_callback_helper.h +/opt/ros/melodic/include/ros/ros/service_callback_helper.h +ros/service_traits.h +/opt/ros/melodic/include/ros/ros/service_traits.h +ros/message_traits.h +/opt/ros/melodic/include/ros/ros/message_traits.h +common.h +/opt/ros/melodic/include/ros/common.h + +/opt/ros/melodic/include/ros/assert.h +ros/console.h +/opt/ros/melodic/include/ros/ros/console.h +ros/static_assert.h +/opt/ros/melodic/include/ros/ros/static_assert.h +ros/platform.h +- +stdlib.h +- + +/opt/ros/melodic/include/ros/builtin_message_traits.h +message_traits.h +/opt/ros/melodic/include/ros/message_traits.h +ros/time.h +/opt/ros/melodic/include/ros/ros/time.h + +/opt/ros/melodic/include/ros/common.h +stdint.h +- +assert.h +- +stddef.h +- +string +- +ros/assert.h +/opt/ros/melodic/include/ros/ros/assert.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/serialized_message.h +/opt/ros/melodic/include/ros/ros/serialized_message.h +boost/shared_array.hpp +- +ros/macros.h +- + /opt/ros/melodic/include/ros/console.h console_backend.h /opt/ros/melodic/include/ros/console_backend.h @@ -130,6 +828,20 @@ rosconsole/macros_generated.h ros/macros.h - +/opt/ros/melodic/include/ros/datatypes.h +string +- +vector +- +map +- +set +- +list +- +boost/shared_ptr.hpp +- + /opt/ros/melodic/include/ros/duration.h iostream - @@ -148,18 +860,468 @@ rostime_decl.h stdexcept - +/opt/ros/melodic/include/ros/exceptions.h +ros/exception.h +- + +/opt/ros/melodic/include/ros/forwards.h +string +- +vector +- +map +- +set +- +list +- +boost/shared_ptr.hpp +- +boost/make_shared.hpp +- +boost/weak_ptr.hpp +- +boost/function.hpp +- +ros/time.h +- +ros/macros.h +- +exceptions.h +/opt/ros/melodic/include/ros/exceptions.h +ros/datatypes.h +/opt/ros/melodic/include/ros/ros/datatypes.h + +/opt/ros/melodic/include/ros/init.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/spinner.h +/opt/ros/melodic/include/ros/ros/spinner.h +common.h +/opt/ros/melodic/include/ros/common.h + /opt/ros/melodic/include/ros/macros.h +/opt/ros/melodic/include/ros/master.h +forwards.h +/opt/ros/melodic/include/ros/forwards.h +xmlrpcpp/XmlRpcValue.h +/opt/ros/melodic/include/ros/xmlrpcpp/XmlRpcValue.h +common.h +/opt/ros/melodic/include/ros/common.h + +/opt/ros/melodic/include/ros/message.h +ros/macros.h +/opt/ros/melodic/include/ros/ros/macros.h +ros/assert.h +/opt/ros/melodic/include/ros/ros/assert.h +string +- +string.h +- +boost/shared_ptr.hpp +- +boost/array.hpp +- +stdint.h +- + +/opt/ros/melodic/include/ros/message_event.h +ros/time.h +/opt/ros/melodic/include/ros/ros/time.h +ros/datatypes.h +- +ros/message_traits.h +- +boost/type_traits/is_void.hpp +- +boost/type_traits/is_base_of.hpp +- +boost/type_traits/is_const.hpp +- +boost/type_traits/add_const.hpp +- +boost/type_traits/remove_const.hpp +- +boost/utility/enable_if.hpp +- +boost/function.hpp +- +boost/make_shared.hpp +- + +/opt/ros/melodic/include/ros/message_forward.h +cstddef +- +memory +- + +/opt/ros/melodic/include/ros/message_operations.h +ostream +- + +/opt/ros/melodic/include/ros/message_traits.h +message_forward.h +/opt/ros/melodic/include/ros/message_forward.h +ros/time.h +- +string +- +boost/utility/enable_if.hpp +- +boost/type_traits/remove_const.hpp +- +boost/type_traits/remove_reference.hpp +- + +/opt/ros/melodic/include/ros/names.h +forwards.h +/opt/ros/melodic/include/ros/forwards.h +common.h +/opt/ros/melodic/include/ros/common.h + +/opt/ros/melodic/include/ros/node_handle.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/publisher.h +/opt/ros/melodic/include/ros/ros/publisher.h +ros/subscriber.h +/opt/ros/melodic/include/ros/ros/subscriber.h +ros/service_server.h +/opt/ros/melodic/include/ros/ros/service_server.h +ros/service_client.h +/opt/ros/melodic/include/ros/ros/service_client.h +ros/timer.h +/opt/ros/melodic/include/ros/ros/timer.h +ros/rate.h +/opt/ros/melodic/include/ros/ros/rate.h +ros/wall_timer.h +/opt/ros/melodic/include/ros/ros/wall_timer.h +ros/steady_timer.h +/opt/ros/melodic/include/ros/ros/steady_timer.h +ros/advertise_options.h +/opt/ros/melodic/include/ros/ros/advertise_options.h +ros/advertise_service_options.h +/opt/ros/melodic/include/ros/ros/advertise_service_options.h +ros/subscribe_options.h +/opt/ros/melodic/include/ros/ros/subscribe_options.h +ros/service_client_options.h +/opt/ros/melodic/include/ros/ros/service_client_options.h +ros/timer_options.h +/opt/ros/melodic/include/ros/ros/timer_options.h +ros/wall_timer_options.h +/opt/ros/melodic/include/ros/ros/wall_timer_options.h +ros/spinner.h +/opt/ros/melodic/include/ros/ros/spinner.h +ros/init.h +/opt/ros/melodic/include/ros/ros/init.h +common.h +/opt/ros/melodic/include/ros/common.h +boost/bind.hpp +- +xmlrpcpp/XmlRpcValue.h +- + +/opt/ros/melodic/include/ros/param.h +forwards.h +/opt/ros/melodic/include/ros/forwards.h +common.h +/opt/ros/melodic/include/ros/common.h +xmlrpcpp/XmlRpcValue.h 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+/opt/ros/melodic/include/ros/ros/time.h +ros/rate.h +/opt/ros/melodic/include/ros/ros/rate.h +ros/console.h +/opt/ros/melodic/include/ros/ros/console.h +ros/assert.h +/opt/ros/melodic/include/ros/ros/assert.h +ros/common.h +/opt/ros/melodic/include/ros/ros/common.h +ros/types.h +/opt/ros/melodic/include/ros/ros/types.h +ros/node_handle.h +/opt/ros/melodic/include/ros/ros/node_handle.h +ros/publisher.h +/opt/ros/melodic/include/ros/ros/publisher.h +ros/single_subscriber_publisher.h +/opt/ros/melodic/include/ros/ros/single_subscriber_publisher.h +ros/service_server.h +/opt/ros/melodic/include/ros/ros/service_server.h +ros/subscriber.h +/opt/ros/melodic/include/ros/ros/subscriber.h +ros/service.h +/opt/ros/melodic/include/ros/ros/service.h +ros/init.h +/opt/ros/melodic/include/ros/ros/init.h +ros/master.h +/opt/ros/melodic/include/ros/ros/master.h +ros/this_node.h +/opt/ros/melodic/include/ros/ros/this_node.h +ros/param.h +/opt/ros/melodic/include/ros/ros/param.h +ros/topic.h +/opt/ros/melodic/include/ros/ros/topic.h +ros/names.h +/opt/ros/melodic/include/ros/ros/names.h + +/opt/ros/melodic/include/ros/roscpp_serialization_macros.h +ros/macros.h +- + /opt/ros/melodic/include/ros/rostime_decl.h ros/macros.h - +/opt/ros/melodic/include/ros/serialization.h +roscpp_serialization_macros.h +/opt/ros/melodic/include/ros/roscpp_serialization_macros.h +ros/types.h +- +ros/time.h +- +serialized_message.h +/opt/ros/melodic/include/ros/serialized_message.h +ros/message_traits.h +/opt/ros/melodic/include/ros/ros/message_traits.h +ros/builtin_message_traits.h +/opt/ros/melodic/include/ros/ros/builtin_message_traits.h +ros/exception.h +/opt/ros/melodic/include/ros/ros/exception.h +ros/datatypes.h +/opt/ros/melodic/include/ros/ros/datatypes.h +vector +- +map +- +boost/array.hpp +- +boost/call_traits.hpp +- +boost/utility/enable_if.hpp +- +boost/mpl/and.hpp +- +boost/mpl/or.hpp +- +boost/mpl/not.hpp +- +cstring +- + +/opt/ros/melodic/include/ros/serialized_message.h +roscpp_serialization_macros.h +/opt/ros/melodic/include/ros/roscpp_serialization_macros.h +boost/shared_array.hpp +- +boost/shared_ptr.hpp +- + +/opt/ros/melodic/include/ros/service.h +string +- +ros/common.h +/opt/ros/melodic/include/ros/ros/common.h +ros/message.h +/opt/ros/melodic/include/ros/ros/message.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/node_handle.h +/opt/ros/melodic/include/ros/ros/node_handle.h +ros/service_traits.h +/opt/ros/melodic/include/ros/ros/service_traits.h +ros/names.h +/opt/ros/melodic/include/ros/ros/names.h +boost/shared_ptr.hpp +- + +/opt/ros/melodic/include/ros/service_callback_helper.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/common.h +/opt/ros/melodic/include/ros/ros/common.h +ros/message.h +/opt/ros/melodic/include/ros/ros/message.h +ros/message_traits.h +/opt/ros/melodic/include/ros/ros/message_traits.h +ros/service_traits.h +/opt/ros/melodic/include/ros/ros/service_traits.h +ros/serialization.h +/opt/ros/melodic/include/ros/ros/serialization.h +boost/type_traits/is_base_of.hpp +- +boost/utility/enable_if.hpp +- + +/opt/ros/melodic/include/ros/service_client.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/common.h +/opt/ros/melodic/include/ros/ros/common.h +ros/service_traits.h +/opt/ros/melodic/include/ros/ros/service_traits.h +ros/serialization.h +/opt/ros/melodic/include/ros/ros/serialization.h + +/opt/ros/melodic/include/ros/service_client_options.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +common.h +/opt/ros/melodic/include/ros/common.h +ros/service_traits.h +/opt/ros/melodic/include/ros/ros/service_traits.h + +/opt/ros/melodic/include/ros/service_server.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +common.h +/opt/ros/melodic/include/ros/common.h + +/opt/ros/melodic/include/ros/service_traits.h +boost/type_traits/remove_reference.hpp +- +boost/type_traits/remove_const.hpp +- + +/opt/ros/melodic/include/ros/single_subscriber_publisher.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/serialization.h +/opt/ros/melodic/include/ros/ros/serialization.h +common.h +/opt/ros/melodic/include/ros/common.h +boost/utility.hpp +- + +/opt/ros/melodic/include/ros/spinner.h +ros/types.h +/opt/ros/melodic/include/ros/ros/types.h +common.h +/opt/ros/melodic/include/ros/common.h +boost/shared_ptr.hpp +- + +/opt/ros/melodic/include/ros/static_assert.h +boost/static_assert.hpp +- + +/opt/ros/melodic/include/ros/steady_timer.h +common.h +/opt/ros/melodic/include/ros/common.h +forwards.h +/opt/ros/melodic/include/ros/forwards.h +steady_timer_options.h +/opt/ros/melodic/include/ros/steady_timer_options.h + +/opt/ros/melodic/include/ros/steady_timer_options.h +common.h +/opt/ros/melodic/include/ros/common.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h + +/opt/ros/melodic/include/ros/subscribe_options.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +common.h +/opt/ros/melodic/include/ros/common.h +ros/transport_hints.h +/opt/ros/melodic/include/ros/ros/transport_hints.h +ros/message_traits.h +/opt/ros/melodic/include/ros/ros/message_traits.h +subscription_callback_helper.h +/opt/ros/melodic/include/ros/subscription_callback_helper.h + +/opt/ros/melodic/include/ros/subscriber.h +common.h +/opt/ros/melodic/include/ros/common.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/subscription_callback_helper.h +/opt/ros/melodic/include/ros/ros/subscription_callback_helper.h + +/opt/ros/melodic/include/ros/subscription_callback_helper.h +typeinfo +- +common.h +/opt/ros/melodic/include/ros/common.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +ros/parameter_adapter.h +/opt/ros/melodic/include/ros/ros/parameter_adapter.h +ros/message_traits.h +/opt/ros/melodic/include/ros/ros/message_traits.h +ros/builtin_message_traits.h +/opt/ros/melodic/include/ros/ros/builtin_message_traits.h +ros/serialization.h +/opt/ros/melodic/include/ros/ros/serialization.h +ros/message_event.h +/opt/ros/melodic/include/ros/ros/message_event.h +ros/static_assert.h +- +boost/type_traits/add_const.hpp +- +boost/type_traits/remove_const.hpp +- +boost/type_traits/remove_reference.hpp +- +boost/type_traits/is_base_of.hpp +- +boost/utility/enable_if.hpp +- +boost/make_shared.hpp +- + +/opt/ros/melodic/include/ros/this_node.h +common.h +/opt/ros/melodic/include/ros/common.h +forwards.h +/opt/ros/melodic/include/ros/forwards.h + /opt/ros/melodic/include/ros/time.h ros/platform.h - @@ -180,8 +1342,572 @@ sys/timeb.h sys/time.h - +/opt/ros/melodic/include/ros/timer.h +common.h +/opt/ros/melodic/include/ros/common.h +forwards.h +/opt/ros/melodic/include/ros/forwards.h +timer_options.h +/opt/ros/melodic/include/ros/timer_options.h + +/opt/ros/melodic/include/ros/timer_options.h +common.h +/opt/ros/melodic/include/ros/common.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h + +/opt/ros/melodic/include/ros/topic.h +common.h +/opt/ros/melodic/include/ros/common.h +node_handle.h +/opt/ros/melodic/include/ros/node_handle.h +boost/shared_ptr.hpp +- + +/opt/ros/melodic/include/ros/transport_hints.h +common.h +/opt/ros/melodic/include/ros/common.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h +boost/lexical_cast.hpp +- + +/opt/ros/melodic/include/ros/types.h +stdint.h +- + +/opt/ros/melodic/include/ros/wall_timer.h +common.h +/opt/ros/melodic/include/ros/common.h +forwards.h +/opt/ros/melodic/include/ros/forwards.h +wall_timer_options.h +/opt/ros/melodic/include/ros/wall_timer_options.h + +/opt/ros/melodic/include/ros/wall_timer_options.h +common.h +/opt/ros/melodic/include/ros/common.h +ros/forwards.h +/opt/ros/melodic/include/ros/ros/forwards.h + /opt/ros/melodic/include/rosconsole/macros_generated.h +/opt/ros/melodic/include/sensor_msgs/CameraInfo.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +sensor_msgs/RegionOfInterest.h +- + +/opt/ros/melodic/include/sensor_msgs/CompressedImage.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- + +/opt/ros/melodic/include/sensor_msgs/Image.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- + +/opt/ros/melodic/include/sensor_msgs/Imu.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +geometry_msgs/Quaternion.h +- +geometry_msgs/Vector3.h +- +geometry_msgs/Vector3.h +- + +/opt/ros/melodic/include/sensor_msgs/RegionOfInterest.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + +/opt/ros/melodic/include/sensor_msgs/image_encodings.h +cstdlib +- +stdexcept +- +string +- + +/opt/ros/melodic/include/std_msgs/ColorRGBA.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + +/opt/ros/melodic/include/std_msgs/Header.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + +/opt/ros/melodic/include/tf/LinearMath/Matrix3x3.h +Vector3.h +/opt/ros/melodic/include/tf/LinearMath/Vector3.h +Quaternion.h +/opt/ros/melodic/include/tf/LinearMath/Quaternion.h +ros/macros.h +- + +/opt/ros/melodic/include/tf/LinearMath/MinMax.h + +/opt/ros/melodic/include/tf/LinearMath/QuadWord.h +Scalar.h +/opt/ros/melodic/include/tf/LinearMath/Scalar.h +MinMax.h +/opt/ros/melodic/include/tf/LinearMath/MinMax.h +altivec.h +- + +/opt/ros/melodic/include/tf/LinearMath/Quaternion.h +Vector3.h +/opt/ros/melodic/include/tf/LinearMath/Vector3.h +QuadWord.h +/opt/ros/melodic/include/tf/LinearMath/QuadWord.h +ros/macros.h +- + +/opt/ros/melodic/include/tf/LinearMath/Scalar.h +math.h +- +stdlib.h +- +cstdlib +- +cfloat +- +float.h +- +ppcintrinsics.h +- +assert.h +- +assert.h +- +assert.h +- +assert.h +- + +/opt/ros/melodic/include/tf/LinearMath/Transform.h +Matrix3x3.h +/opt/ros/melodic/include/tf/LinearMath/Matrix3x3.h + +/opt/ros/melodic/include/tf/LinearMath/Vector3.h +Scalar.h +/opt/ros/melodic/include/tf/LinearMath/Scalar.h +MinMax.h +/opt/ros/melodic/include/tf/LinearMath/MinMax.h + +/opt/ros/melodic/include/tf/exceptions.h +stdexcept +- +tf2/exceptions.h +- + +/opt/ros/melodic/include/tf/tf.h +iostream +- +iomanip +- +cmath +- +vector +- +sstream +- +map +- +memory +- +tf/exceptions.h +- +tf/time_cache.h +/opt/ros/melodic/include/tf/tf/time_cache.h +boost/unordered_map.hpp +- +boost/signals2.hpp +- +geometry_msgs/TwistStamped.h +/opt/ros/melodic/include/tf/geometry_msgs/TwistStamped.h +tf2_ros/buffer.h +- +ros/macros.h +- + +/opt/ros/melodic/include/tf/tfMessage.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +geometry_msgs/TransformStamped.h +- + +/opt/ros/melodic/include/tf/time_cache.h +set +- +boost/thread/mutex.hpp +- +tf/transform_datatypes.h +/opt/ros/melodic/include/tf/tf/transform_datatypes.h +tf/exceptions.h +/opt/ros/melodic/include/tf/tf/exceptions.h +tf/LinearMath/Transform.h +/opt/ros/melodic/include/tf/tf/LinearMath/Transform.h +sstream +- + +/opt/ros/melodic/include/tf/transform_broadcaster.h +tf/tf.h +/opt/ros/melodic/include/tf/tf/tf.h +tf/tfMessage.h +/opt/ros/melodic/include/tf/tf/tfMessage.h +tf2_ros/transform_broadcaster.h +- + +/opt/ros/melodic/include/tf/transform_datatypes.h +string +- +geometry_msgs/PointStamped.h +/opt/ros/melodic/include/tf/geometry_msgs/PointStamped.h +geometry_msgs/Vector3Stamped.h +/opt/ros/melodic/include/tf/geometry_msgs/Vector3Stamped.h +geometry_msgs/QuaternionStamped.h +/opt/ros/melodic/include/tf/geometry_msgs/QuaternionStamped.h +geometry_msgs/TransformStamped.h +/opt/ros/melodic/include/tf/geometry_msgs/TransformStamped.h +geometry_msgs/PoseStamped.h +/opt/ros/melodic/include/tf/geometry_msgs/PoseStamped.h +tf/LinearMath/Transform.h +/opt/ros/melodic/include/tf/tf/LinearMath/Transform.h +ros/time.h +/opt/ros/melodic/include/tf/ros/time.h +ros/console.h +/opt/ros/melodic/include/tf/ros/console.h + +/opt/ros/melodic/include/tf2/LinearMath/Quaternion.h +Vector3.h +/opt/ros/melodic/include/tf2/LinearMath/Vector3.h +QuadWord.h +/opt/ros/melodic/include/tf2/LinearMath/QuadWord.h + +/opt/ros/melodic/include/tf2/LinearMath/Vector3.h +Scalar.h +/opt/ros/melodic/include/tf2/LinearMath/Scalar.h +MinMax.h +/opt/ros/melodic/include/tf2/LinearMath/MinMax.h + +/opt/ros/melodic/include/tf2/buffer_core.h +transform_storage.h +/opt/ros/melodic/include/tf2/transform_storage.h +boost/signals2.hpp +- +string +- +ros/duration.h +/opt/ros/melodic/include/tf2/ros/duration.h +ros/time.h +/opt/ros/melodic/include/tf2/ros/time.h +geometry_msgs/TransformStamped.h +/opt/ros/melodic/include/tf2/geometry_msgs/TransformStamped.h +boost/unordered_map.hpp +- +boost/thread/mutex.hpp +- +boost/function.hpp +- +boost/shared_ptr.hpp +- + +/opt/ros/melodic/include/tf2/convert.h +tf2/transform_datatypes.h +- +tf2/exceptions.h +- +geometry_msgs/TransformStamped.h +- +tf2/impl/convert.h +- + +/opt/ros/melodic/include/tf2/exceptions.h +stdexcept +- + +/opt/ros/melodic/include/tf2/impl/convert.h + +/opt/ros/melodic/include/tf2/transform_datatypes.h +string +- +ros/time.h +/opt/ros/melodic/include/tf2/ros/time.h + +/opt/ros/melodic/include/tf2/transform_storage.h +tf2/LinearMath/Vector3.h +- +tf2/LinearMath/Quaternion.h +- +ros/message_forward.h +- +ros/time.h +- +ros/types.h +- + +/opt/ros/melodic/include/tf2_msgs/FrameGraph.h +ros/service_traits.h +- +tf2_msgs/FrameGraphRequest.h +- +tf2_msgs/FrameGraphResponse.h +- + +/opt/ros/melodic/include/tf2_msgs/FrameGraphRequest.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + +/opt/ros/melodic/include/tf2_msgs/FrameGraphResponse.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- + +/opt/ros/melodic/include/tf2_ros/buffer.h +tf2_ros/buffer_interface.h +- +tf2/buffer_core.h +- +tf2_msgs/FrameGraph.h +- +ros/ros.h +- +tf2/convert.h +- + +/opt/ros/melodic/include/tf2_ros/buffer_interface.h +tf2/buffer_core.h +- +tf2/transform_datatypes.h +- +tf2/exceptions.h +- +geometry_msgs/TransformStamped.h +- +sstream +- +tf2/convert.h +- + +/opt/ros/melodic/include/tf2_ros/transform_broadcaster.h +ros/ros.h +/opt/ros/melodic/include/tf2_ros/ros/ros.h +geometry_msgs/TransformStamped.h +/opt/ros/melodic/include/tf2_ros/geometry_msgs/TransformStamped.h + +/opt/ros/melodic/include/visualization_msgs/Marker.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +std_msgs/Header.h +- +geometry_msgs/Pose.h +- +geometry_msgs/Vector3.h +- +std_msgs/ColorRGBA.h +- +geometry_msgs/Point.h +- +std_msgs/ColorRGBA.h +- + +/opt/ros/melodic/include/visualization_msgs/MarkerArray.h +string +- +vector +- +map +- +ros/types.h +- +ros/serialization.h +- +ros/builtin_message_traits.h +- +ros/message_operations.h +- +visualization_msgs/Marker.h +- + +/opt/ros/melodic/include/xmlrpcpp/XmlRpcDecl.h +ros/macros.h +- + +/opt/ros/melodic/include/xmlrpcpp/XmlRpcValue.h +xmlrpcpp/XmlRpcDecl.h +/opt/ros/melodic/include/xmlrpcpp/xmlrpcpp/XmlRpcDecl.h +map +- +string +- +vector +- +time.h +- + +/root/Projects/ROS/src/p_33_vio/GPU_version/vio/src/frame_handler_mono.cpp +vio/config.h +- +vio/frame_handler_mono.h +- +vio/map.h +- +vio/frame.h +- +vio/feature.h +- +vio/point.h +- +vio/pose_optimizer.h +- +vio/sparse_img_align.h +- +vio/depth_filter.h +- +vio/for_it.hpp +- +assert.h +- + /root/Projects/ROS/src/p_33_vio/GPU_version/vio/src/reprojector.cpp algorithm - @@ -209,6 +1935,74 @@ vio/math_utils.h - vio/timer.h - +fstream +- + +/root/Projects/ROS/src/p_33_vio/GPU_version/vio/src/visualizer.cpp +vio/visualizer.h +- +vio/frame_handler_mono.h +- +vio/point.h +- +vio/map.h +- +vio/feature.h +- +geometry_msgs/PoseWithCovarianceStamped.h +- +geometry_msgs/PoseStamped.h +- +vio/timer.h +- +vio/output_helper.h +- +deque +- +vio/ukf.h +- + +/root/Projects/ROS/src/p_33_vio/GPU_version/vio/src/vo_node.cpp +ros/ros.h +- +string +- +chrono +- +vio/frame_handler_mono.h +- +vio/params_helper.h +- +sensor_msgs/Image.h +- +sensor_msgs/Imu.h +- +geometry_msgs/Twist.h +- +image_transport/image_transport.h +- +boost/thread.hpp +- +cv_bridge/cv_bridge.h +- +Eigen/Core +- +vio/abstract_camera.h +- +vio/camera_loader.h +- +vio/frame.h +- +vio/getOdom.h +- +vio/start.h +- +vio/stop.h +- +vio/depth_filter.h +- +vio/visualizer.h +- /root/workspace/Sophus/sophus/se2.h so2.h @@ -594,6 +2388,78 @@ src/Core/GlobalFunctions.h src/Core/util/ReenableStupidWarnings.h /usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/Dense +Core +/usr/include/eigen3/Eigen/Core +LU +/usr/include/eigen3/Eigen/LU +Cholesky +/usr/include/eigen3/Eigen/Cholesky +QR +/usr/include/eigen3/Eigen/QR +SVD +/usr/include/eigen3/Eigen/SVD +Geometry +/usr/include/eigen3/Eigen/Geometry +Eigenvalues +/usr/include/eigen3/Eigen/Eigenvalues + +/usr/include/eigen3/Eigen/Eigen +Dense +/usr/include/eigen3/Eigen/Dense +Sparse +/usr/include/eigen3/Eigen/Sparse + +/usr/include/eigen3/Eigen/Eigenvalues +Core +/usr/include/eigen3/Eigen/Core +src/Core/util/DisableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h +Cholesky +/usr/include/eigen3/Eigen/Cholesky +Jacobi +/usr/include/eigen3/Eigen/Jacobi +Householder +/usr/include/eigen3/Eigen/Householder +LU +/usr/include/eigen3/Eigen/LU +Geometry +/usr/include/eigen3/Eigen/Geometry +src/misc/RealSvd2x2.h +/usr/include/eigen3/Eigen/src/misc/RealSvd2x2.h +src/Eigenvalues/Tridiagonalization.h +/usr/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h +src/Eigenvalues/RealSchur.h +/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur.h +src/Eigenvalues/EigenSolver.h +/usr/include/eigen3/Eigen/src/Eigenvalues/EigenSolver.h +src/Eigenvalues/SelfAdjointEigenSolver.h +/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h +src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h +/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h +src/Eigenvalues/HessenbergDecomposition.h +/usr/include/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h +src/Eigenvalues/ComplexSchur.h +/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h +src/Eigenvalues/ComplexEigenSolver.h +/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h +src/Eigenvalues/RealQZ.h +/usr/include/eigen3/Eigen/src/Eigenvalues/RealQZ.h +src/Eigenvalues/GeneralizedEigenSolver.h +/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h +src/Eigenvalues/MatrixBaseEigenvalues.h +/usr/include/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h +src/misc/lapacke.h +/usr/include/eigen3/Eigen/src/misc/lapacke.h +src/Eigenvalues/RealSchur_LAPACKE.h +/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h +src/Eigenvalues/ComplexSchur_LAPACKE.h +/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h +src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h +/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h +src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h + /usr/include/eigen3/Eigen/Geometry Core /usr/include/eigen3/Eigen/Core @@ -652,6 +2518,34 @@ src/Householder/BlockHouseholder.h src/Core/util/ReenableStupidWarnings.h /usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/IterativeLinearSolvers +SparseCore +/usr/include/eigen3/Eigen/SparseCore +OrderingMethods +/usr/include/eigen3/Eigen/OrderingMethods +src/Core/util/DisableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h +Eigen/IterativeLinearSolvers +- +src/IterativeLinearSolvers/SolveWithGuess.h +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h +src/IterativeLinearSolvers/IterativeSolverBase.h +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h +src/IterativeLinearSolvers/BasicPreconditioners.h +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h +src/IterativeLinearSolvers/ConjugateGradient.h +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h +src/IterativeLinearSolvers/LeastSquareConjugateGradient.h +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h +src/IterativeLinearSolvers/BiCGSTAB.h +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h +src/IterativeLinearSolvers/IncompleteLUT.h +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h +src/IterativeLinearSolvers/IncompleteCholesky.h +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h +src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h + /usr/include/eigen3/Eigen/Jacobi Core /usr/include/eigen3/Eigen/Core @@ -688,6 +2582,18 @@ src/LU/arch/Inverse_SSE.h src/Core/util/ReenableStupidWarnings.h /usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/OrderingMethods +SparseCore +/usr/include/eigen3/Eigen/SparseCore +src/Core/util/DisableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h +src/OrderingMethods/Amd.h +/usr/include/eigen3/Eigen/src/OrderingMethods/Amd.h +src/OrderingMethods/Ordering.h +/usr/include/eigen3/Eigen/src/OrderingMethods/Ordering.h +src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h + /usr/include/eigen3/Eigen/QR Core /usr/include/eigen3/Eigen/Core @@ -742,6 +2648,170 @@ src/SVD/JacobiSVD_LAPACKE.h src/Core/util/ReenableStupidWarnings.h /usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/Sparse +Eigen/Sparse +- +SparseCore +/usr/include/eigen3/Eigen/SparseCore +OrderingMethods +/usr/include/eigen3/Eigen/OrderingMethods +SparseCholesky +/usr/include/eigen3/Eigen/SparseCholesky +SparseLU +/usr/include/eigen3/Eigen/SparseLU +SparseQR +/usr/include/eigen3/Eigen/SparseQR +IterativeLinearSolvers +/usr/include/eigen3/Eigen/IterativeLinearSolvers + +/usr/include/eigen3/Eigen/SparseCholesky +SparseCore +/usr/include/eigen3/Eigen/SparseCore +OrderingMethods +/usr/include/eigen3/Eigen/OrderingMethods +src/Core/util/DisableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h +src/SparseCholesky/SimplicialCholesky.h +/usr/include/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky.h +src/SparseCholesky/SimplicialCholesky_impl.h +/usr/include/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h +src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h + +/usr/include/eigen3/Eigen/SparseCore +Core +/usr/include/eigen3/Eigen/Core +src/Core/util/DisableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h +vector +- +map +- +cstdlib +- +cstring +- +algorithm +- +src/SparseCore/SparseUtil.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseUtil.h +src/SparseCore/SparseMatrixBase.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h +src/SparseCore/SparseAssign.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseAssign.h +src/SparseCore/CompressedStorage.h +/usr/include/eigen3/Eigen/src/SparseCore/CompressedStorage.h +src/SparseCore/AmbiVector.h +/usr/include/eigen3/Eigen/src/SparseCore/AmbiVector.h +src/SparseCore/SparseCompressedBase.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h +src/SparseCore/SparseMatrix.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseMatrix.h +src/SparseCore/SparseMap.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseMap.h +src/SparseCore/MappedSparseMatrix.h +/usr/include/eigen3/Eigen/src/SparseCore/MappedSparseMatrix.h +src/SparseCore/SparseVector.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseVector.h +src/SparseCore/SparseRef.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseRef.h +src/SparseCore/SparseCwiseUnaryOp.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseCwiseUnaryOp.h +src/SparseCore/SparseCwiseBinaryOp.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseCwiseBinaryOp.h +src/SparseCore/SparseTranspose.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseTranspose.h +src/SparseCore/SparseBlock.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseBlock.h +src/SparseCore/SparseDot.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseDot.h +src/SparseCore/SparseRedux.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseRedux.h +src/SparseCore/SparseView.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseView.h +src/SparseCore/SparseDiagonalProduct.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseDiagonalProduct.h +src/SparseCore/ConservativeSparseSparseProduct.h +/usr/include/eigen3/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h +src/SparseCore/SparseSparseProductWithPruning.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseSparseProductWithPruning.h +src/SparseCore/SparseProduct.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseProduct.h +src/SparseCore/SparseDenseProduct.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseDenseProduct.h +src/SparseCore/SparseSelfAdjointView.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseSelfAdjointView.h +src/SparseCore/SparseTriangularView.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseTriangularView.h +src/SparseCore/TriangularSolver.h +/usr/include/eigen3/Eigen/src/SparseCore/TriangularSolver.h +src/SparseCore/SparsePermutation.h +/usr/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h +src/SparseCore/SparseFuzzy.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseFuzzy.h +src/SparseCore/SparseSolverBase.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseSolverBase.h +src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h + +/usr/include/eigen3/Eigen/SparseLU +SparseCore +/usr/include/eigen3/Eigen/SparseCore +OrderingMethods +/usr/include/eigen3/Eigen/OrderingMethods +src/SparseLU/SparseLU_gemm_kernel.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_gemm_kernel.h +src/SparseLU/SparseLU_Structs.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_Structs.h +src/SparseLU/SparseLU_SupernodalMatrix.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h +src/SparseLU/SparseLUImpl.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLUImpl.h +src/SparseCore/SparseColEtree.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseColEtree.h +src/SparseLU/SparseLU_Memory.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_Memory.h +src/SparseLU/SparseLU_heap_relax_snode.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h +src/SparseLU/SparseLU_relax_snode.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_relax_snode.h +src/SparseLU/SparseLU_pivotL.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_pivotL.h +src/SparseLU/SparseLU_panel_dfs.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_panel_dfs.h +src/SparseLU/SparseLU_kernel_bmod.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_kernel_bmod.h +src/SparseLU/SparseLU_panel_bmod.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_panel_bmod.h +src/SparseLU/SparseLU_column_dfs.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_column_dfs.h +src/SparseLU/SparseLU_column_bmod.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_column_bmod.h +src/SparseLU/SparseLU_copy_to_ucol.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h +src/SparseLU/SparseLU_pruneL.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_pruneL.h +src/SparseLU/SparseLU_Utils.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_Utils.h +src/SparseLU/SparseLU.h +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU.h + +/usr/include/eigen3/Eigen/SparseQR +SparseCore +/usr/include/eigen3/Eigen/SparseCore +OrderingMethods +/usr/include/eigen3/Eigen/OrderingMethods +src/Core/util/DisableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/DisableStupidWarnings.h +OrderingMethods +/usr/include/eigen3/Eigen/OrderingMethods +src/SparseCore/SparseColEtree.h +/usr/include/eigen3/Eigen/src/SparseCore/SparseColEtree.h +src/SparseQR/SparseQR.h +/usr/include/eigen3/Eigen/src/SparseQR/SparseQR.h +src/Core/util/ReenableStupidWarnings.h +/usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h + /usr/include/eigen3/Eigen/StdVector Core /usr/include/eigen3/Eigen/Core @@ -1050,12 +3120,56 @@ math_constants.h cstdint - +/usr/include/eigen3/Eigen/src/Core/util/NonMPL2.h + /usr/include/eigen3/Eigen/src/Core/util/ReenableStupidWarnings.h /usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h /usr/include/eigen3/Eigen/src/Core/util/XprHelper.h +/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexEigenSolver.h +./ComplexSchur.h +/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur.h +./HessenbergDecomposition.h +/usr/include/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/ComplexSchur_LAPACKE.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/EigenSolver.h +./RealSchur.h +/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedEigenSolver.h +./RealQZ.h +/usr/include/eigen3/Eigen/src/Eigenvalues/RealQZ.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/GeneralizedSelfAdjointEigenSolver.h +./Tridiagonalization.h +/usr/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/MatrixBaseEigenvalues.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/RealQZ.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur.h +./HessenbergDecomposition.h +/usr/include/eigen3/Eigen/src/Eigenvalues/HessenbergDecomposition.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/RealSchur_LAPACKE.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver.h +./Tridiagonalization.h +/usr/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/SelfAdjointEigenSolver_LAPACKE.h + +/usr/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h + /usr/include/eigen3/Eigen/src/Geometry/AlignedBox.h /usr/include/eigen3/Eigen/src/Geometry/AngleAxis.h @@ -1092,6 +3206,26 @@ cstdint /usr/include/eigen3/Eigen/src/Householder/HouseholderSequence.h +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/BasicPreconditioners.h + +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/BiCGSTAB.h + +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/ConjugateGradient.h + +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h +vector +- +list +- + +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/IncompleteLUT.h + +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/IterativeSolverBase.h + +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/LeastSquareConjugateGradient.h + +/usr/include/eigen3/Eigen/src/IterativeLinearSolvers/SolveWithGuess.h + /usr/include/eigen3/Eigen/src/Jacobi/Jacobi.h /usr/include/eigen3/Eigen/src/LU/Determinant.h @@ -1106,6 +3240,16 @@ cstdint /usr/include/eigen3/Eigen/src/LU/arch/Inverse_SSE.h +/usr/include/eigen3/Eigen/src/OrderingMethods/Amd.h +../Core/util/NonMPL2.h +/usr/include/eigen3/Eigen/src/Core/util/NonMPL2.h + +/usr/include/eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h + +/usr/include/eigen3/Eigen/src/OrderingMethods/Ordering.h +Eigen_Colamd.h +/usr/include/eigen3/Eigen/src/OrderingMethods/Eigen_Colamd.h + /usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR.h /usr/include/eigen3/Eigen/src/QR/ColPivHouseholderQR_LAPACKE.h @@ -1128,6 +3272,118 @@ cstdint /usr/include/eigen3/Eigen/src/SVD/UpperBidiagonalization.h +/usr/include/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky.h + +/usr/include/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h +../Core/util/NonMPL2.h +/usr/include/eigen3/Eigen/src/Core/util/NonMPL2.h + +/usr/include/eigen3/Eigen/src/SparseCore/AmbiVector.h + +/usr/include/eigen3/Eigen/src/SparseCore/CompressedStorage.h + +/usr/include/eigen3/Eigen/src/SparseCore/ConservativeSparseSparseProduct.h + +/usr/include/eigen3/Eigen/src/SparseCore/MappedSparseMatrix.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseAssign.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseBlock.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseColEtree.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseCompressedBase.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseCwiseBinaryOp.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseCwiseUnaryOp.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseDenseProduct.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseDiagonalProduct.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseDot.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseFuzzy.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseMap.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseMatrix.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseMatrixBase.h +../plugins/CommonCwiseUnaryOps.h +/usr/include/eigen3/Eigen/src/plugins/CommonCwiseUnaryOps.h +../plugins/CommonCwiseBinaryOps.h +/usr/include/eigen3/Eigen/src/plugins/CommonCwiseBinaryOps.h +../plugins/MatrixCwiseUnaryOps.h +/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h +../plugins/MatrixCwiseBinaryOps.h +/usr/include/eigen3/Eigen/src/plugins/MatrixCwiseBinaryOps.h +../plugins/BlockMethods.h +/usr/include/eigen3/Eigen/src/plugins/BlockMethods.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparsePermutation.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseProduct.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseRedux.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseRef.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseSelfAdjointView.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseSolverBase.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseSparseProductWithPruning.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseTranspose.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseTriangularView.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseUtil.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseVector.h + +/usr/include/eigen3/Eigen/src/SparseCore/SparseView.h + +/usr/include/eigen3/Eigen/src/SparseCore/TriangularSolver.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLUImpl.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_Memory.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_Structs.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_SupernodalMatrix.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_Utils.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_column_bmod.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_column_dfs.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_copy_to_ucol.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_gemm_kernel.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_heap_relax_snode.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_kernel_bmod.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_panel_bmod.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_panel_dfs.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_pivotL.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_pruneL.h + +/usr/include/eigen3/Eigen/src/SparseLU/SparseLU_relax_snode.h + +/usr/include/eigen3/Eigen/src/SparseQR/SparseQR.h + /usr/include/eigen3/Eigen/src/StlSupport/StdVector.h details.h /usr/include/eigen3/Eigen/src/StlSupport/details.h diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/depend.internal b/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/depend.internal index 57ccf1e..e5ddd2b 100644 --- a/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/depend.internal +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/depend.internal @@ -3626,10 +3626,13 @@ CMakeFiles/vio.dir/src/pose_optimizer.cpp.o /usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h CMakeFiles/vio.dir/src/reprojector.cpp.o ../include/vio/abstract_camera.h + ../include/vio/cl.hpp + ../include/vio/cl_class.h ../include/vio/config.h ../include/vio/feature.h ../include/vio/frame.h ../include/vio/global.h + ../include/vio/initialization.h ../include/vio/map.h ../include/vio/matcher.h ../include/vio/math_utils.h diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/depend.make b/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/depend.make index c2ffea2..3cadf8e 100644 --- a/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/depend.make +++ b/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/depend.make @@ -3625,10 +3625,13 @@ CMakeFiles/vio.dir/src/pose_optimizer.cpp.o: /usr/include/eigen3/Eigen/src/plugi CMakeFiles/vio.dir/src/pose_optimizer.cpp.o: /usr/include/eigen3/Eigen/src/plugins/MatrixCwiseUnaryOps.h CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/abstract_camera.h +CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/cl.hpp +CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/cl_class.h CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/config.h CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/feature.h CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/frame.h CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/global.h +CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/initialization.h CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/map.h CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/matcher.h CMakeFiles/vio.dir/src/reprojector.cpp.o: ../include/vio/math_utils.h diff --git a/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/src/cl_class.cpp.o b/GPU_version/vio/cmake-build-debug/CMakeFiles/vio.dir/src/cl_class.cpp.o index 06fc717..c07f4d4 100644 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a/GPU_version/vio/include/vio/reprojector.h +++ b/GPU_version/vio/include/vio/reprojector.h @@ -55,7 +55,7 @@ public: size_t n_matches_; size_t n_trials_; - Reprojector(vk::AbstractCamera* cam, Map& map, opencl* kernel); + Reprojector(vk::AbstractCamera* cam, Map& map/*, opencl* kernel*/); ~Reprojector(); diff --git a/GPU_version/vio/kernel/compute-residual.cl b/GPU_version/vio/kernel/compute-residual.cl index 7dc5ad0..e2ee7e3 100644 --- a/GPU_version/vio/kernel/compute-residual.cl +++ b/GPU_version/vio/kernel/compute-residual.cl @@ -8,7 +8,7 @@ float2 world2cam(float3 feature) { float r = sqrt(pow(feature.x/feature.z, 2) + pow(feature.y/feature.z, 2)); float factor = 1.0; - if((float)S != 0 || r > 0.001) + if((float)S != 0 && r > 0.001) factor = (atan(r * 2.0 * tan(0.5 * (float)S)) / (r * (float)S)); return (float2)((float)C_X + (float)F_X * factor * feature.x/feature.z, (float)C_Y + (float)F_Y * factor * feature.y/feature.z); } @@ -22,8 +22,18 @@ float3 xyz_cur(float3 cur, float3 ref, float3 ref_feature) float cc_ss = cos(cur.z) * cos(ref.z) - sin(cur.z) * sin(ref.z); float sc_cs = cos(cur.z) * sin(ref.z) + cos(ref.z) * sin(cur.z); return (float3)(cc_ss * ref_feature.x + sc_cs * ref_feature.z + cur.x - ref.x * cos(cur.z) - ref.z * sin(cur.z), - ref_feature.y, - -1.0 * sc_cs * ref_feature.x + cc_ss * ref_feature.z + cur.z + ref.x * sin(cur.z) - ref.z * cos(cur.z)); + ref_feature.y, + -1.0 * sc_cs * ref_feature.x + cc_ss * ref_feature.z + cur.z + ref.x * sin(cur.z) - ref.z * cos(cur.z)); + + // alfa = 0, betha = 15 degree - 0.261799 radian + //return (float3)(((float)(cos(0.261799)*ref_feature.x)+(float)(sin(0.261799)*sin(cur.z)*ref_feature.y)+(float)(sin(0.261799)*cos(cur.z)*ref_feature.z)), + // ((float)(cos(cur.z)*ref_feature.y)-(float)(sin(cur.z)*ref_feature.z)), + // ((float)(-1*sin(0.261799)*ref_feature.x)+(float)(cos(0.261799)*sin(cur.z)*ref_feature.y)+(float)(cos(0.261799)*cos(cur.z)*ref_feature.z))); + // + // betha = 0, alfa = 15 degree - 0.261799 radian + //return (float3)(((float)(cos(0.261799)*ref_feature.x)+(float)(-1*sin(0.261799)*cos(cur.z)*ref_feature.y)+(float)(sin(0.261799)*sin(cur.z)*ref_feature.z)), + // ((float)(sin(0.261799)*ref_feature.x)+(float)(cos(0.261799)*cos(cur.z)*ref_feature.y)-(float)(cos(0.261799)*sin(cur.z)*ref_feature.z)), + // ((float)(sin(cur.z)*ref_feature.y)+(float)(cos(cur.z)*ref_feature.z))); } void jacobian_xyz2uv(float3 xyz_in_f, float* J) diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp index 213b1a4..d0977e4 100644 --- a/GPU_version/vio/src/frame_handler_mono.cpp +++ b/GPU_version/vio/src/frame_handler_mono.cpp @@ -170,13 +170,17 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame() //SparseImgAlign img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlign::LevenbergMarquardt, false, false); SparseImgAlignGpu img_align(Config::kltMaxLevel(), Config::kltMinLevel(),30, SparseImgAlignGpu::GaussNewton, false,gpu_fast_); if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE; +// cv::Mat imgref = last_frame_->img().clone(); +// cv::imwrite("/root/Projects/ROS/src/p_33_vio/GPU_version/imgref.png",imgref); +// cv::Mat imgcur = new_frame_->img().clone(); +// cv::imwrite("/root/Projects/ROS/src/p_33_vio/GPU_version/imgcur.png",imgcur); reprojector_.reprojectMap(new_frame_, overlap_kfs_); - assert (false); -/* + //assert (false); + std::cout<<"Reprojection Map nPoint: "<T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n';*/ + (last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n'; if( reprojector_.n_trials_ < 10)return RESULT_FAILURE; size_t sfba_n_edges_final=0; double sfba_thresh, sfba_error_init, sfba_error_final; diff --git a/GPU_version/vio/src/reprojector.cpp b/GPU_version/vio/src/reprojector.cpp index db856f2..4c06712 100644 --- a/GPU_version/vio/src/reprojector.cpp +++ b/GPU_version/vio/src/reprojector.cpp @@ -27,11 +27,12 @@ #include #include #include +#include namespace vio { -Reprojector::Reprojector(vk::AbstractCamera* cam, Map& map, opencl* kernel) : - map_(map), gpu_freak(kernel) +Reprojector::Reprojector(vk::AbstractCamera* cam, Map& map/*, opencl* kernel*/) : + map_(map)//, gpu_freak(kernel) { initializeGrid(cam); } @@ -131,43 +132,62 @@ void Reprojector::reprojectMap( // At the end, we should have at maximum one reprojected point per cell. //SVO_START_TIMER("feature_align"); - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - std::vector kps; // keypoints - cl_float4 data; - int frame_number = 0; - for(auto it_frame = overlap_kfs.begin(), ite_frame = overlap_kfs.end(); it_frame != ite_frame; it_frame++){ - for(auto it_ftr = it_frame->first->fts_.begin(), ite_ftr = it_frame->first->fts_.end(); it_ftr != ite_ftr; it_ftr++){ - data.w = frame_number; - data.x = (*it_ftr)->px.x(); - data.y = (*it_ftr)->px.y(); - data.z = 0.0; - kps.push_back(data); - } - frame_number++; - } - cl_float4 keypoints[kps.size()]; - size_t counter = 0; - for(auto it = kps.begin(), ite = kps.end(); it != ite; it++) { - cl_float4 ftr; - ftr.w = it->w; - ftr.x = it->x; - ftr.y = it->y; - ftr.z = it->z; - keypoints[counter++] = ftr; - } - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// - /*cl_float3 keypoints[overlap_kfs.back().second]; - size_t counter = 0; - for(size_t i = 0; i < grid_.cells.size(); ++i) - { - Cell* cell = grid_.cells.at(grid_.cell_order[i]); - for(auto it = cell->begin(), ite = cell->end(); it != ite; it++, counter++) - { - keypoints[counter].x = it->px.x(); //x - keypoints[counter].y = it->px.y(); //y - keypoints[counter].z = 0.0; //angle - } - }*/ +// ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// +// std::vector kps; // keypoints +// cl_float4 data; +// int frame_number = 0; +// for(auto it_frame = overlap_kfs.begin(), ite_frame = overlap_kfs.end(); it_frame != ite_frame; it_frame++){ +// for(auto it_ftr = it_frame->first->fts_.begin(), ite_ftr = it_frame->first->fts_.end(); it_ftr != ite_ftr; it_ftr++){ +// data.w = frame_number; +// data.x = (*it_ftr)->px.x(); +// data.y = (*it_ftr)->px.y(); +// data.z = 0.0; +// kps.push_back(data); +// } +// frame_number++; +// } + + +// cv::Mat imgbegin = overlap_kfs.begin()->first->img().clone(); +// cv::imwrite("/root/Projects/ROS/src/p_33_vio/GPU_version/img_overlap_kfs_begin.png",imgbegin); +// cv::Mat imgbend = overlap_kfs.end()->first->img().clone(); +// cv::imwrite("/root/Projects/ROS/src/p_33_vio/GPU_version/img_overlap_kfs_end.png",imgbend); + +// ofstream fileref; +// fileref.open("/root/Projects/ROS/src/p_33_vio/GPU_version/dataref.txt"); +// //cl_float4 keypoints[kps.size()]; +// //size_t counter = 0; +// for(auto it = kps.begin(), ite = kps.end(); it != ite; it++) { +// cl_float4 ftr; +// ftr.w = it->w; +// ftr.x = it->x; +// ftr.y = it->y; +// ftr.z = it->z; +// //keypoints[counter++] = ftr; +// fileref<begin(), ite = cell->end(); it != ite; it++, counter++) +// { +// //keypoints[counter].x = it->px.x(); //x +// //keypoints[counter].y = it->px.y(); //y +// //keypoints[counter].z = 0.0; //angle +// filecur<px.x()<<","<px.y()<<","<<0.0<img(); // cv::Mat integral_img=cv::Mat(cv::Size(701, 501),CV_8UC1); @@ -175,156 +195,156 @@ void Reprojector::reprojectMap( // gpu_freak->run(0); // gpu_freak->read(0,1,1,&integral_img); - // FREAK preprocessing - static const float FREAK_LOG2 = 0.693147180559945; - static const int FREAK_NB_ORIENTATION = 256; - static const int NB_ORIENPAIRS = 45; - static const int FREAK_NB_POINTS = 43; - static const int FREAK_SMALLEST_KP_SIZE = 7; // smallest size of keypoints - static const int NB_PAIRS = 512; - static const int NB_SCALES = 64; - - bool orientationNormalized = true; - bool scaleNormalized = true; - float patternScale = 22.0f; - int nOctaves = 4; - - bool extAll = false; // true if all pairs need to be extracted for pairs selection - - cl_float3 patternLookup[NB_SCALES * FREAK_NB_ORIENTATION * FREAK_NB_POINTS]; // look-up table for the pattern points (position+sigma of all points at all scales and orientation) - int patternSizes[NB_SCALES]; // size of the pattern at a specific scale (used to check if a point is within image boundaries) - cl_uchar2 descriptionPairs[NB_PAIRS]; - cl_int4 orientationPairs[NB_ORIENPAIRS]; - - // default pairs - static const int FREAK_DEF_PAIRS[NB_PAIRS] = { - 404,431,818,511,181,52,311,874,774,543,719,230,417,205,11, - 560,149,265,39,306,165,857,250,8,61,15,55,717,44,412, - 592,134,761,695,660,782,625,487,549,516,271,665,762,392,178, - 796,773,31,672,845,548,794,677,654,241,831,225,238,849,83, - 691,484,826,707,122,517,583,731,328,339,571,475,394,472,580, - 381,137,93,380,327,619,729,808,218,213,459,141,806,341,95, - 382,568,124,750,193,749,706,843,79,199,317,329,768,198,100, - 466,613,78,562,783,689,136,838,94,142,164,679,219,419,366, - 418,423,77,89,523,259,683,312,555,20,470,684,123,458,453,833, - 72,113,253,108,313,25,153,648,411,607,618,128,305,232,301,84, - 56,264,371,46,407,360,38,99,176,710,114,578,66,372,653, - 129,359,424,159,821,10,323,393,5,340,891,9,790,47,0,175,346, - 236,26,172,147,574,561,32,294,429,724,755,398,787,288,299, - 769,565,767,722,757,224,465,723,498,467,235,127,802,446,233, - 544,482,800,318,16,532,801,441,554,173,60,530,713,469,30, - 212,630,899,170,266,799,88,49,512,399,23,500,107,524,90, - 194,143,135,192,206,345,148,71,119,101,563,870,158,254,214, - 276,464,332,725,188,385,24,476,40,231,620,171,258,67,109, - 844,244,187,388,701,690,50,7,850,479,48,522,22,154,12,659, - 736,655,577,737,830,811,174,21,237,335,353,234,53,270,62, - 182,45,177,245,812,673,355,556,612,166,204,54,248,365,226, - 242,452,700,685,573,14,842,481,468,781,564,416,179,405,35, - 819,608,624,367,98,643,448,2,460,676,440,240,130,146,184, - 185,430,65,807,377,82,121,708,239,310,138,596,730,575,477, - 851,797,247,27,85,586,307,779,326,494,856,324,827,96,748, - 13,397,125,688,702,92,293,716,277,140,112,4,80,855,839,1, - 413,347,584,493,289,696,19,751,379,76,73,115,6,590,183,734, - 197,483,217,344,330,400,186,243,587,220,780,200,793,246,824, - 41,735,579,81,703,322,760,720,139,480,490,91,814,813,163, - 152,488,763,263,425,410,576,120,319,668,150,160,302,491,515, - 260,145,428,97,251,395,272,252,18,106,358,854,485,144,550, - 131,133,378,68,102,104,58,361,275,209,697,582,338,742,589, - 325,408,229,28,304,191,189,110,126,486,211,547,533,70,215, - 670,249,36,581,389,605,331,518,442,822 - }; - - float scaleStep = pow(2.0, (float)(nOctaves)/NB_SCALES ); // 2 ^ ( (nOctaves-1) /nbScales) - - const int nn[8] = {6, 6, 6, 6, 6, 6, 6, 1}; // number of points on each concentric circle (from outer to inner) - const float bigR = (float)(2.0 / 3.0); // bigger radius - const float smallR = (float)(2.0 / 24.0); // smaller radius - const float unitSpace = (float)((bigR - smallR) / 21.0 ); // define spaces between concentric circles (from center to outer: 1,2,3,4,5,6) - // radii of the concentric cirles (from outer to inner) - const float radius[8] = {bigR , bigR - 6 * unitSpace, bigR - 11 * unitSpace, bigR - 15 * unitSpace, - bigR - 18 * unitSpace, bigR - 20 * unitSpace, smallR , 0.0}; - // sigma of pattern points (each group of 6 points on a concentric cirle has the same sigma) - const float sigma[8] = {float(radius[0] / 2.0), float(radius[1] / 2.0), float(radius[2] / 2.0), float(radius[3] / 2.0), - float(radius[4] / 2.0), float(radius[5] / 2.0), float(radius[6] / 2.0), float(radius[6] / 2.0)}; - - for( int scaleIdx=0; scaleIdx < NB_SCALES; ++scaleIdx ) - { - patternSizes[scaleIdx] = 0; // proper initialization - float scalingFactor = pow(scaleStep,scaleIdx); //scale of the pattern, scaleStep ^ scaleIdx - - for( int orientationIdx = 0; orientationIdx < FREAK_NB_ORIENTATION; ++orientationIdx ) - { - int pointIdx = 0; - - for( size_t i = 0; i < 8; ++i ) - { - for( int k = 0 ; k < nn[i]; ++k ) - { - float alpha = (float)(k) * 2 * (float)3.141592653589793238462643383279502884197169399375 / (float)(nn[i]) - + ((float)3.141592653589793238462643383279502884197169399375 / nn[i] * ( i % 2 )/*beta*/) - + ((float)(orientationIdx * 2 * (float)3.141592653589793238462643383279502884197169399375 / (float)(FREAK_NB_ORIENTATION)) /* theta*/); - - // add the point to the look-up table - cl_float3* point = &patternLookup[scaleIdx * FREAK_NB_ORIENTATION * FREAK_NB_POINTS + orientationIdx * FREAK_NB_POINTS + pointIdx]; - point->x = (float)(radius[i] * cos(alpha) * scalingFactor * patternScale); //x - point->y = (float)(radius[i] * sin(alpha) * scalingFactor * patternScale); //y - point->z = (float)(sigma[i] * scalingFactor * patternScale); //sigma - - // adapt the sizeList if necessary - const int sizeMax = (int)(ceil((radius[i] + sigma[i]) * scalingFactor * patternScale)) + 1; - if( patternSizes[scaleIdx] < sizeMax ) - patternSizes[scaleIdx] = sizeMax; - - ++pointIdx; - } - } - } - } - - // build the list of orientation pairs - orientationPairs[0].w=0; orientationPairs[0].x=3; orientationPairs[1].w=1; orientationPairs[1].x=4; orientationPairs[2].w=2; orientationPairs[2].x=5; - orientationPairs[3].w=0; orientationPairs[3].x=2; orientationPairs[4].w=1; orientationPairs[4].x=3; orientationPairs[5].w=2; orientationPairs[5].x=4; - orientationPairs[6].w=3; orientationPairs[6].x=5; orientationPairs[7].w=4; orientationPairs[7].x=0; orientationPairs[8].w=5; orientationPairs[8].x=1; - - orientationPairs[9].w=6; orientationPairs[9].x=9; orientationPairs[10].w=7; orientationPairs[10].x=10; orientationPairs[11].w=8; orientationPairs[11].x=11; - orientationPairs[12].w=6; orientationPairs[12].x=8; orientationPairs[13].w=7; orientationPairs[13].x=9; orientationPairs[14].w=8; orientationPairs[14].x=10; - orientationPairs[15].w=9; orientationPairs[15].x=11; orientationPairs[16].w=10; orientationPairs[16].x=6; orientationPairs[17].w=11; orientationPairs[17].x=7; - - orientationPairs[18].w=12; orientationPairs[18].x=15; orientationPairs[19].w=13; orientationPairs[19].x=16; orientationPairs[20].w=14; orientationPairs[20].x=17; - orientationPairs[21].w=12; orientationPairs[21].x=14; orientationPairs[22].w=13; orientationPairs[22].x=15; orientationPairs[23].w=14; orientationPairs[23].x=16; - orientationPairs[24].w=15; orientationPairs[24].x=17; orientationPairs[25].w=16; orientationPairs[25].x=12; orientationPairs[26].w=17; orientationPairs[26].x=13; - - orientationPairs[27].w=18; orientationPairs[27].x=21; orientationPairs[28].w=19; orientationPairs[28].x=22; orientationPairs[29].w=20; orientationPairs[29].x=23; - orientationPairs[30].w=18; orientationPairs[30].x=20; orientationPairs[31].w=19; orientationPairs[31].x=21; orientationPairs[32].w=20; orientationPairs[32].x=22; - orientationPairs[33].w=21; orientationPairs[33].x=23; orientationPairs[34].w=22; orientationPairs[34].x=18; orientationPairs[35].w=23; orientationPairs[35].x=19; - - orientationPairs[36].w=24; orientationPairs[36].x=27; orientationPairs[37].w=25; orientationPairs[37].x=28; orientationPairs[38].w=26; orientationPairs[38].x=29; - orientationPairs[39].w=30; orientationPairs[39].x=33; orientationPairs[40].w=31; orientationPairs[40].x=34; orientationPairs[41].w=32; orientationPairs[41].x=35; - orientationPairs[42].w=36; orientationPairs[42].x=39; orientationPairs[43].w=37; orientationPairs[43].x=40; orientationPairs[44].w=38; orientationPairs[44].x=41; - - for( unsigned m = NB_ORIENPAIRS; m--; ) - { - float dx = patternLookup[orientationPairs[m].w].x - patternLookup[orientationPairs[m].x].x; - float dy = patternLookup[orientationPairs[m].w].y - patternLookup[orientationPairs[m].x].y; - float norm_sq = (dx * dx + dy * dy); - orientationPairs[m].y = round((dx / (norm_sq)) * 4096.0); //weight_dx - orientationPairs[m].z = round((dy / (norm_sq)) * 4096.0); //weight_dy - } - - // build the list of description pairs - cl_uchar2 allPairs[(int)((FREAK_NB_POINTS * (FREAK_NB_POINTS + 1)) / 2)]; - for( int i = 1, idx = 0; i < FREAK_NB_POINTS; ++i ) - { - // (generate all the pairs) - for( int j = 0; j < i; ++j ) - { - allPairs[idx++] = (cl_uchar2){(uchar)i, (uchar)j}; - } - } - for( int i = 0; i < NB_PAIRS; ++i ) - descriptionPairs[i] = allPairs[FREAK_DEF_PAIRS[i]]; - - int kpScaleIdx[overlap_kfs.back().second]; +// // FREAK preprocessing +// static const float FREAK_LOG2 = 0.693147180559945; +// static const int FREAK_NB_ORIENTATION = 256; +// static const int NB_ORIENPAIRS = 45; +// static const int FREAK_NB_POINTS = 43; +// static const int FREAK_SMALLEST_KP_SIZE = 7; // smallest size of keypoints +// static const int NB_PAIRS = 512; +// static const int NB_SCALES = 64; +// +// bool orientationNormalized = true; +// bool scaleNormalized = true; +// float patternScale = 22.0f; +// int nOctaves = 4; +// +// bool extAll = false; // true if all pairs need to be extracted for pairs selection +// +// cl_float3 patternLookup[NB_SCALES * FREAK_NB_ORIENTATION * FREAK_NB_POINTS]; // look-up table for the pattern points (position+sigma of all points at all scales and orientation) +// int patternSizes[NB_SCALES]; // size of the pattern at a specific scale (used to check if a point is within image boundaries) +// cl_uchar2 descriptionPairs[NB_PAIRS]; +// cl_int4 orientationPairs[NB_ORIENPAIRS]; +// +// // default pairs +// static const int FREAK_DEF_PAIRS[NB_PAIRS] = { +// 404,431,818,511,181,52,311,874,774,543,719,230,417,205,11, +// 560,149,265,39,306,165,857,250,8,61,15,55,717,44,412, +// 592,134,761,695,660,782,625,487,549,516,271,665,762,392,178, +// 796,773,31,672,845,548,794,677,654,241,831,225,238,849,83, +// 691,484,826,707,122,517,583,731,328,339,571,475,394,472,580, +// 381,137,93,380,327,619,729,808,218,213,459,141,806,341,95, +// 382,568,124,750,193,749,706,843,79,199,317,329,768,198,100, +// 466,613,78,562,783,689,136,838,94,142,164,679,219,419,366, +// 418,423,77,89,523,259,683,312,555,20,470,684,123,458,453,833, +// 72,113,253,108,313,25,153,648,411,607,618,128,305,232,301,84, +// 56,264,371,46,407,360,38,99,176,710,114,578,66,372,653, +// 129,359,424,159,821,10,323,393,5,340,891,9,790,47,0,175,346, +// 236,26,172,147,574,561,32,294,429,724,755,398,787,288,299, +// 769,565,767,722,757,224,465,723,498,467,235,127,802,446,233, +// 544,482,800,318,16,532,801,441,554,173,60,530,713,469,30, +// 212,630,899,170,266,799,88,49,512,399,23,500,107,524,90, +// 194,143,135,192,206,345,148,71,119,101,563,870,158,254,214, +// 276,464,332,725,188,385,24,476,40,231,620,171,258,67,109, +// 844,244,187,388,701,690,50,7,850,479,48,522,22,154,12,659, +// 736,655,577,737,830,811,174,21,237,335,353,234,53,270,62, +// 182,45,177,245,812,673,355,556,612,166,204,54,248,365,226, +// 242,452,700,685,573,14,842,481,468,781,564,416,179,405,35, +// 819,608,624,367,98,643,448,2,460,676,440,240,130,146,184, +// 185,430,65,807,377,82,121,708,239,310,138,596,730,575,477, +// 851,797,247,27,85,586,307,779,326,494,856,324,827,96,748, +// 13,397,125,688,702,92,293,716,277,140,112,4,80,855,839,1, +// 413,347,584,493,289,696,19,751,379,76,73,115,6,590,183,734, +// 197,483,217,344,330,400,186,243,587,220,780,200,793,246,824, +// 41,735,579,81,703,322,760,720,139,480,490,91,814,813,163, +// 152,488,763,263,425,410,576,120,319,668,150,160,302,491,515, +// 260,145,428,97,251,395,272,252,18,106,358,854,485,144,550, +// 131,133,378,68,102,104,58,361,275,209,697,582,338,742,589, +// 325,408,229,28,304,191,189,110,126,486,211,547,533,70,215, +// 670,249,36,581,389,605,331,518,442,822 +// }; +// +// float scaleStep = pow(2.0, (float)(nOctaves)/NB_SCALES ); // 2 ^ ( (nOctaves-1) /nbScales) +// +// const int nn[8] = {6, 6, 6, 6, 6, 6, 6, 1}; // number of points on each concentric circle (from outer to inner) +// const float bigR = (float)(2.0 / 3.0); // bigger radius +// const float smallR = (float)(2.0 / 24.0); // smaller radius +// const float unitSpace = (float)((bigR - smallR) / 21.0 ); // define spaces between concentric circles (from center to outer: 1,2,3,4,5,6) +// // radii of the concentric cirles (from outer to inner) +// const float radius[8] = {bigR , bigR - 6 * unitSpace, bigR - 11 * unitSpace, bigR - 15 * unitSpace, +// bigR - 18 * unitSpace, bigR - 20 * unitSpace, smallR , 0.0}; +// // sigma of pattern points (each group of 6 points on a concentric cirle has the same sigma) +// const float sigma[8] = {float(radius[0] / 2.0), float(radius[1] / 2.0), float(radius[2] / 2.0), float(radius[3] / 2.0), +// float(radius[4] / 2.0), float(radius[5] / 2.0), float(radius[6] / 2.0), float(radius[6] / 2.0)}; +// +// for( int scaleIdx=0; scaleIdx < NB_SCALES; ++scaleIdx ) +// { +// patternSizes[scaleIdx] = 0; // proper initialization +// float scalingFactor = pow(scaleStep,scaleIdx); //scale of the pattern, scaleStep ^ scaleIdx +// +// for( int orientationIdx = 0; orientationIdx < FREAK_NB_ORIENTATION; ++orientationIdx ) +// { +// int pointIdx = 0; +// +// for( size_t i = 0; i < 8; ++i ) +// { +// for( int k = 0 ; k < nn[i]; ++k ) +// { +// float alpha = (float)(k) * 2 * (float)3.141592653589793238462643383279502884197169399375 / (float)(nn[i]) +// + ((float)3.141592653589793238462643383279502884197169399375 / nn[i] * ( i % 2 )/*beta*/) +// + ((float)(orientationIdx * 2 * (float)3.141592653589793238462643383279502884197169399375 / (float)(FREAK_NB_ORIENTATION)) /* theta*/); +// +// // add the point to the look-up table +// cl_float3* point = &patternLookup[scaleIdx * FREAK_NB_ORIENTATION * FREAK_NB_POINTS + orientationIdx * FREAK_NB_POINTS + pointIdx]; +// point->x = (float)(radius[i] * cos(alpha) * scalingFactor * patternScale); //x +// point->y = (float)(radius[i] * sin(alpha) * scalingFactor * patternScale); //y +// point->z = (float)(sigma[i] * scalingFactor * patternScale); //sigma +// +// // adapt the sizeList if necessary +// const int sizeMax = (int)(ceil((radius[i] + sigma[i]) * scalingFactor * patternScale)) + 1; +// if( patternSizes[scaleIdx] < sizeMax ) +// patternSizes[scaleIdx] = sizeMax; +// +// ++pointIdx; +// } +// } +// } +// } +// +// // build the list of orientation pairs +// orientationPairs[0].w=0; orientationPairs[0].x=3; orientationPairs[1].w=1; orientationPairs[1].x=4; orientationPairs[2].w=2; orientationPairs[2].x=5; +// orientationPairs[3].w=0; orientationPairs[3].x=2; orientationPairs[4].w=1; orientationPairs[4].x=3; orientationPairs[5].w=2; orientationPairs[5].x=4; +// orientationPairs[6].w=3; orientationPairs[6].x=5; orientationPairs[7].w=4; orientationPairs[7].x=0; orientationPairs[8].w=5; orientationPairs[8].x=1; +// +// orientationPairs[9].w=6; orientationPairs[9].x=9; orientationPairs[10].w=7; orientationPairs[10].x=10; orientationPairs[11].w=8; orientationPairs[11].x=11; +// orientationPairs[12].w=6; orientationPairs[12].x=8; orientationPairs[13].w=7; orientationPairs[13].x=9; orientationPairs[14].w=8; orientationPairs[14].x=10; +// orientationPairs[15].w=9; orientationPairs[15].x=11; orientationPairs[16].w=10; orientationPairs[16].x=6; orientationPairs[17].w=11; orientationPairs[17].x=7; +// +// orientationPairs[18].w=12; orientationPairs[18].x=15; orientationPairs[19].w=13; orientationPairs[19].x=16; orientationPairs[20].w=14; orientationPairs[20].x=17; +// orientationPairs[21].w=12; orientationPairs[21].x=14; orientationPairs[22].w=13; orientationPairs[22].x=15; orientationPairs[23].w=14; orientationPairs[23].x=16; +// orientationPairs[24].w=15; orientationPairs[24].x=17; orientationPairs[25].w=16; orientationPairs[25].x=12; orientationPairs[26].w=17; orientationPairs[26].x=13; +// +// orientationPairs[27].w=18; orientationPairs[27].x=21; orientationPairs[28].w=19; orientationPairs[28].x=22; orientationPairs[29].w=20; orientationPairs[29].x=23; +// orientationPairs[30].w=18; orientationPairs[30].x=20; orientationPairs[31].w=19; orientationPairs[31].x=21; orientationPairs[32].w=20; orientationPairs[32].x=22; +// orientationPairs[33].w=21; orientationPairs[33].x=23; orientationPairs[34].w=22; orientationPairs[34].x=18; orientationPairs[35].w=23; orientationPairs[35].x=19; +// +// orientationPairs[36].w=24; orientationPairs[36].x=27; orientationPairs[37].w=25; orientationPairs[37].x=28; orientationPairs[38].w=26; orientationPairs[38].x=29; +// orientationPairs[39].w=30; orientationPairs[39].x=33; orientationPairs[40].w=31; orientationPairs[40].x=34; orientationPairs[41].w=32; orientationPairs[41].x=35; +// orientationPairs[42].w=36; orientationPairs[42].x=39; orientationPairs[43].w=37; orientationPairs[43].x=40; orientationPairs[44].w=38; orientationPairs[44].x=41; +// +// for( unsigned m = NB_ORIENPAIRS; m--; ) +// { +// float dx = patternLookup[orientationPairs[m].w].x - patternLookup[orientationPairs[m].x].x; +// float dy = patternLookup[orientationPairs[m].w].y - patternLookup[orientationPairs[m].x].y; +// float norm_sq = (dx * dx + dy * dy); +// orientationPairs[m].y = round((dx / (norm_sq)) * 4096.0); //weight_dx +// orientationPairs[m].z = round((dy / (norm_sq)) * 4096.0); //weight_dy +// } +// +// // build the list of description pairs +// cl_uchar2 allPairs[(int)((FREAK_NB_POINTS * (FREAK_NB_POINTS + 1)) / 2)]; +// for( int i = 1, idx = 0; i < FREAK_NB_POINTS; ++i ) +// { +// // (generate all the pairs) +// for( int j = 0; j < i; ++j ) +// { +// allPairs[idx++] = (cl_uchar2){(uchar)i, (uchar)j}; +// } +// } +// for( int i = 0; i < NB_PAIRS; ++i ) +// descriptionPairs[i] = allPairs[FREAK_DEF_PAIRS[i]]; +// +// int kpScaleIdx[overlap_kfs.back().second]; // gpu_freak->reload_buf(1,0,img); @@ -338,19 +358,20 @@ void Reprojector::reprojectMap( // gpu_freak->reload_buf(1,9,kpScaleIdx); // gpu_freak->run(1); // cl_uchar descriptor[frame_number*300*64]={0}; -// gpu_freak->read(1,3,300*64,descriptor); +// gpu_freak->read(1,3,frame_number*300*64,descriptor); - ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// -// for(size_t i=0; i (size_t) Config::maxFts()) -// break; -// } + ////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + + for(size_t i=0; i (size_t) Config::maxFts()) + break; + } // SVO_STOP_TIMER("feature_align"); }