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log the supported extention

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This commit is contained in:
gfuse
2021-08-18 16:48:34 +02:00
parent fe8d8d1422
commit 9331b0f553
2 changed files with 6 additions and 5 deletions
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GPU_version/vio/src/cl_class.cpp
+2 -1
View File
@@ -26,7 +26,8 @@ opencl::opencl(vk::AbstractCamera* cam):cam(cam) {
<< "CL_DEVICE_BUILT_IN_KERNELS: " <<device->getInfo<CL_DEVICE_BUILT_IN_KERNELS>()<<'\n' << "CL_DEVICE_BUILT_IN_KERNELS: " <<device->getInfo<CL_DEVICE_BUILT_IN_KERNELS>()<<'\n'
<< "CL_DEVICE_COMPILER_AVAILABLE: " <<device->getInfo<CL_DEVICE_COMPILER_AVAILABLE>()<<'\n' << "CL_DEVICE_COMPILER_AVAILABLE: " <<device->getInfo<CL_DEVICE_COMPILER_AVAILABLE>()<<'\n'
<< "CL_DEVICE_LOCAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_LOCAL_MEM_SIZE>()<<'\n' << "CL_DEVICE_LOCAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_LOCAL_MEM_SIZE>()<<'\n'
<< "CL_DEVICE_GLOBAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_GLOBAL_MEM_SIZE>()<<'\n'; << "CL_DEVICE_GLOBAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_GLOBAL_MEM_SIZE>()<<'\n'
<< "CL_DEVICE_EXTENSIONS: " <<device->getInfo<CL_DEVICE_EXTENSIONS>()<<'\n';
context=new cl::Context({ *device }); context=new cl::Context({ *device });
cl::Program::Sources sources; cl::Program::Sources sources;
read_cl fast(std::string(KERNEL_DIR)+"/fast-gray.cl"); read_cl fast(std::string(KERNEL_DIR)+"/fast-gray.cl");
GPU_version/vio/src/frame_handler_mono.cpp
+4 -4
View File
@@ -164,12 +164,11 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE; if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE;
//assert (false); //assert (false);
reprojector_.reprojectMap(new_frame_, overlap_kfs_); reprojector_.reprojectMap(new_frame_, overlap_kfs_);
/*
std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second
<<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_ <<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_
<<"\t distance between two frames: "<< <<"\t distance between two frames: "<<
(last_frame_->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';*/
size_t sfba_n_edges_final=0; size_t sfba_n_edges_final=0;
double sfba_thresh, sfba_error_init, sfba_error_final; double sfba_thresh, sfba_error_init, sfba_error_final;
pose_optimizer::optimizeGaussNewton( pose_optimizer::optimizeGaussNewton(
@@ -185,11 +184,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
new_frame_->T_f_w_.se2().translation()(1),new_frame_->T_f_w_.pitch(),sfba_n_edges_final,time_); new_frame_->T_f_w_.se2().translation()(1),new_frame_->T_f_w_.pitch(),sfba_n_edges_final,time_);
new_frame_->T_f_w_ =result.second; new_frame_->T_f_w_ =result.second;
new_frame_->Cov_ = result.first; new_frame_->Cov_ = result.first;
/*
std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second
<<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_ <<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_
<<"\tReprojected points after opmization: "<<sfba_n_edges_final<<"\t distance between two frames: "<< <<"\tReprojected points after opmization: "<<sfba_n_edges_final<<"\t distance between two frames: "<<
(last_frame_->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';
*/
optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter()); optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
// select keyframe // select keyframe
core_kfs_.insert(new_frame_); core_kfs_.insert(new_frame_);