debug gpu version done

GPU_version/svo/include/gpu_svo/pose_optimizer.h

@@ -0,0 +1,50 @@
+// 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_POSE_OPTIMIZER_H_
+#define SVO_POSE_OPTIMIZER_H_
+
+#include <gpu_svo/global.h>
+
+namespace svo {
+
+using namespace Eigen;
+using namespace Sophus;
+using namespace std;
+
+typedef Matrix<double,6,6> Matrix6d;
+typedef Matrix<double,2,6> Matrix26d;
+typedef Matrix<double,6,1> Vector6d;
+
+class Point;
+
+/// Motion-only bundle adjustment. Minimize the reprojection error of a single frame.
+namespace pose_optimizer {
+
+void optimizeGaussNewton(
+    const double reproj_thresh,
+    const size_t n_iter,
+    const bool verbose,
+    FramePtr& frame,
+    double& estimated_scale,
+    double& error_init,
+    double& error_final,
+    size_t& num_obs);
+
+} // namespace pose_optimizer
+} // namespace svo
+
+#endif // SVO_POSE_OPTIMIZER_H_