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 +1,101 @@
+// 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_REPROJECTION_H_
+#define SVO_REPROJECTION_H_
+
+#include <gpu_svo/global.h>
+#include <gpu_svo/matcher.h>
+
+namespace vk {
+class AbstractCamera;
+}
+
+namespace svo {
+
+class Map;
+class Point;
+
+/// Project points from the map into the image and find the corresponding
+/// feature (corner). We don't search a match for every point but only for one
+/// point per cell. Thereby, we achieve a homogeneously distributed set of
+/// matched features and at the same time we can save processing time by not
+/// projecting all points.
+class Reprojector
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  /// Reprojector config parameters
+  struct Options {
+    size_t max_n_kfs;   //!< max number of keyframes to reproject from
+    bool find_match_direct;
+    Options()
+    : max_n_kfs(10),
+      find_match_direct(true)
+    {}
+  } options_;
+
+  size_t n_matches_;
+  size_t n_trials_;
+
+  Reprojector(vk::AbstractCamera* cam, Map& map);
+
+  ~Reprojector();
+
+  /// Project points from the map into the image. First finds keyframes with
+  /// overlapping field of view and projects only those map-points.
+  void reprojectMap(
+      FramePtr frame,
+      std::vector< std::pair<FramePtr,std::size_t> >& overlap_kfs);
+
+private:
+
+  /// A candidate is a point that projects into the image plane and for which we
+  /// will search a maching feature in the image.
+  struct Candidate {
+    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+    Point* pt;       //!< 3D point.
+    Vector2d px;     //!< projected 2D pixel location.
+    Candidate(Point* pt, Vector2d& px) : pt(pt), px(px) {}
+  };
+  typedef std::list<Candidate > Cell;
+  typedef std::vector<Cell*> CandidateGrid;
+
+  /// The grid stores a set of candidate matches. For every grid cell we try to find one match.
+  struct Grid
+  {
+    CandidateGrid cells;
+    vector<int> cell_order;
+    int cell_size;
+    int grid_n_cols;
+    int grid_n_rows;
+  };
+
+  Grid grid_;
+  Matcher matcher_;
+  Map& map_;
+
+  static bool pointQualityComparator(Candidate& lhs, Candidate& rhs);
+  void initializeGrid(vk::AbstractCamera* cam);
+  void resetGrid();
+  bool reprojectCell(Cell& cell, FramePtr frame);
+  bool reprojectPoint(FramePtr frame, Point* point);
+};
+
+} // namespace svo
+
+#endif // SVO_REPROJECTION_H_