debug gpu version done

GPU_version/svo/include/gpu_svo/feature_detection.h

@@ -0,0 +1,111 @@
+// 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_DETECTION_H_
+#define SVO_FEATURE_DETECTION_H_
+
+#include <gpu_svo/global.h>
+#include <gpu_svo/frame.h>
+#include <gpu_svo/cl_class.h>
+
+namespace svo {
+
+/// Implementation of various feature detectors.
+namespace feature_detection {
+
+/// Temporary container used for corner detection. Features are initialized from these.
+struct Corner
+{
+  int x;        //!< x-coordinate of corner in the image.
+  int y;        //!< y-coordinate of corner in the image.
+  int level;    //!< pyramid level of the corner.
+  float score;  //!< shi-tomasi score of the corner.
+  float angle;  //!< for gradient-features: dominant gradient angle.
+  Corner(int x, int y, float score, int level, float angle) :
+    x(x), y(y), level(level), score(score), angle(angle)
+  {}
+};
+typedef vector<Corner> Corners;
+
+/// All detectors should derive from this abstract class.
+class AbstractDetector
+{
+public:
+  AbstractDetector(
+      const int img_width,
+      const int img_height,
+      const int cell_size,
+      const int n_pyr_levels);
+
+  virtual ~AbstractDetector() {
+  };
+
+  virtual void detect(
+      Frame* frame,
+      const ImgPyr& img_pyr,
+      const double detection_threshold,
+      Features& fts) = 0;
+
+  /// Flag the grid cell as occupied
+  void setGridOccpuancy(const Vector2d& px);
+
+  /// Set grid cells of existing features as occupied
+  void setExistingFeatures(const Features& fts);
+
+protected:
+
+  static const int border_ = 8; //!< no feature should be within 8px of border.
+  const int cell_size_;
+  const int n_pyr_levels_;
+  const int grid_n_cols_;
+  const int grid_n_rows_;
+  vector<bool> grid_occupancy_;
+
+  void resetGrid();
+
+  inline int getCellIndex(int x, int y, int level)
+  {
+    const int scale = (1<<level);
+    return (scale*y)/cell_size_*grid_n_cols_ + (scale*x)/cell_size_;
+  }
+};
+typedef boost::shared_ptr<AbstractDetector> DetectorPtr;
+
+/// FAST detector by Edward Rosten.
+class FastDetector : public AbstractDetector
+{
+public:
+  FastDetector(
+      const int img_width,
+      const int img_height,
+      const int cell_size,
+      opencl* gpu_fast_,
+      const int n_pyr_levels);
+
+  virtual ~FastDetector() {}
+
+  virtual void detect(
+      Frame* frame,
+      const ImgPyr& img_pyr,
+      const double detection_threshold,
+      Features& fts);
+  opencl* gpu_fast_;
+};
+
+} // namespace feature_detection
+} // namespace svo
+
+#endif // SVO_FEATURE_DETECTION_H_