debug gpu version done

GPU_version/svo/include/gpu_svo/feature_alignment.h

@@ -0,0 +1,63 @@
+// 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_ALIGNMENT_H_
+#define SVO_FEATURE_ALIGNMENT_H_
+
+#include <gpu_svo/global.h>
+
+namespace svo {
+
+/// Subpixel refinement of a reference feature patch with the current image.
+/// Implements the inverse-compositional approach (see "Lucas-Kanade 20 Years on"
+/// paper by Baker.
+namespace feature_alignment {
+
+bool align1D(
+    const cv::Mat& cur_img,
+    const Vector2f& dir,                  // direction in which the patch is allowed to move
+    uint8_t* ref_patch_with_border,
+    uint8_t* ref_patch,
+    const int n_iter,
+    Vector2d& cur_px_estimate,
+    double& h_inv);
+
+bool align2D(
+    const cv::Mat& cur_img,
+    uint8_t* ref_patch_with_border,
+    uint8_t* ref_patch,
+    const int n_iter,
+    Vector2d& cur_px_estimate,
+    bool no_simd = false);
+
+bool align2D_SSE2(
+    const cv::Mat& cur_img,
+    uint8_t* ref_patch_with_border,
+    uint8_t* ref_patch,
+    const int n_iter,
+    Vector2d& cur_px_estimate);
+
+bool align2D_NEON(
+    const cv::Mat& cur_img,
+    uint8_t* ref_patch_with_border,
+    uint8_t* ref_patch,
+    const int n_iter,
+    Vector2d& cur_px_estimate);
+
+} // namespace feature_alignment
+} // namespace svo
+
+#endif // SVO_FEATURE_ALIGNMENT_H_