debug gpu version done

2021-05-08 11:53:15 +02:00
parent 5a693259d6
commit 9dbc540a5d
60 changed files with 1249 additions and 141 deletions
@@ -0,0 +1,75 @@
+// This file is part of SVO - Semi-direct Visual Odometry.
+//
+// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
+// (Robotics and Perception Group, University of Zurich, Switzerland).
+//
+// SVO is free software: you can redistribute it and/or modify it under the
+// terms of the GNU General Public License as published by the Free Software
+// Foundation, either version 3 of the License, or any later version.
+//
+// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
+// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program.  If not, see <http://www.gnu.org/licenses/>.
+
+#ifndef SVO_FEATURE_H_
+#define SVO_FEATURE_H_
+
+#include <gpu_svo/frame.h>
+
+namespace svo {
+
+/// A salient image region that is tracked across frames.
+struct Feature
+{
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  enum FeatureType {
+    CORNER,
+    EDGELET
+  };
+
+  FeatureType type;     //!< Type can be corner or edgelet.
+  Frame* frame;         //!< Pointer to frame in which the feature was detected.
+  Vector2d px;          //!< Coordinates in pixels on pyramid level 0.
+  Vector3d f;           //!< Unit-bearing vector of the feature.
+  int level;            //!< Image pyramid level where feature was extracted.
+  Point* point;         //!< Pointer to 3D point which corresponds to the feature.
+  Vector2d grad;        //!< Dominant gradient direction for edglets, normalized.
+
+  Feature(Frame* _frame, const Vector2d& _px, int _level) :
+    type(CORNER),
+    frame(_frame),
+    px(_px),
+    f(frame->cam_->cam2world(px)),
+    level(_level),
+    point(NULL),
+    grad(1.0,0.0)
+  {}
+
+  Feature(Frame* _frame, const Vector2d& _px, const Vector3d& _f, int _level) :
+    type(CORNER),
+    frame(_frame),
+    px(_px),
+    f(_f),
+    level(_level),
+    point(NULL),
+    grad(1.0,0.0)
+  {}
+
+  Feature(Frame* _frame, Point* _point, const Vector2d& _px, const Vector3d& _f, int _level) :
+    type(CORNER),
+    frame(_frame),
+    px(_px),
+    f(_f),
+    level(_level),
+    point(_point),
+    grad(1.0,0.0)
+  {}
+};
+
+} // namespace svo
+
+#endif // SVO_FEATURE_H_