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 +1,86 @@
+// 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_INITIALIZATION_H
+#define SVO_INITIALIZATION_H
+
+#include <gpu_svo/global.h>
+#include <gpu_svo/cl_class.h>
+
+namespace svo {
+
+class FrameHandlerMono;
+
+/// Bootstrapping the map from the first two views.
+namespace initialization {
+
+enum InitResult { FAILURE, NO_KEYFRAME, SUCCESS };
+
+/// Tracks features using Lucas-Kanade tracker and then estimates a homography.
+class KltHomographyInit {
+  friend class svo::FrameHandlerMono;
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  FramePtr frame_ref_;
+  KltHomographyInit(opencl* gpu_fast_):gpu_fast_(gpu_fast_) {};
+  ~KltHomographyInit() {};
+  InitResult addFirstFrame(FramePtr frame_ref);
+  InitResult addSecondFrame(FramePtr frame_ref);
+  void reset();
+
+protected:
+  vector<cv::Point2f> px_ref_;      //!< keypoints to be tracked in reference frame.
+  vector<cv::Point2f> px_cur_;      //!< tracked keypoints in current frame.
+  vector<Vector3d> f_ref_;          //!< bearing vectors corresponding to the keypoints in the reference image.
+  vector<Vector3d> f_cur_;          //!< bearing vectors corresponding to the keypoints in the current image.
+  vector<double> disparities_;      //!< disparity between first and second frame.
+  vector<int> inliers_;             //!< inliers after the geometric check (e.g., Homography).
+  vector<Vector3d> xyz_in_cur_;     //!< 3D points computed during the geometric check.
+  SE3 T_cur_from_ref_;              //!< computed transformation between the first two frames.
+  opencl* gpu_fast_;
+};
+
+/// Detect Fast corners in the image.
+void detectFeatures(
+    FramePtr frame,
+    vector<cv::Point2f>& px_vec,
+    vector<Vector3d>& f_vec,
+    opencl* gpu_fast);
+
+/// Compute optical flow (Lucas Kanade) for selected keypoints.
+void trackKlt(
+    FramePtr frame_ref,
+    FramePtr frame_cur,
+    vector<cv::Point2f>& px_ref,
+    vector<cv::Point2f>& px_cur,
+    vector<Vector3d>& f_ref,
+    vector<Vector3d>& f_cur,
+    vector<double>& disparities);
+
+void computeHomography(
+    const vector<Vector3d>& f_ref,
+    const vector<Vector3d>& f_cur,
+    double focal_length,
+    double reprojection_threshold,
+    vector<int>& inliers,
+    vector<Vector3d>& xyz_in_cur,
+    SE3& T_cur_from_ref);
+
+} // namespace initialization
+} // namespace svo
+
+#endif // SVO_INITIALIZATION_H