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debug gpu version done

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This commit is contained in:
gfuse
2021-05-08 11:53:15 +02:00
parent 5a693259d6
commit 9dbc540a5d
60 changed files with 1249 additions and 141 deletions
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GPU_version/svo/src/feature_detection.cpp
+15 -19
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@@ -14,8 +14,8 @@
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
#include <svo/feature_detection.h>
#include <svo/feature.h>
#include <gpu_svo/feature_detection.h>
#include <gpu_svo/feature.h>
#include <vikit/vision.h>
namespace svo {
@@ -32,14 +32,6 @@ AbstractDetector::AbstractDetector(
grid_n_rows_(ceil(static_cast<double>(img_height)/cell_size_)),
grid_occupancy_(grid_n_cols_*grid_n_rows_, false)
{
gpu_fast_= new opencl();
cv::Mat init=cv::Mat::zeros(cv::Size(img_width, img_height),CV_8UC1);
gpu_fast_->write_buf(0,0,init);
cl_int2 corners[img_width*img_height];
gpu_fast_->write_buf(0,1,img_width*img_height,corners);
int icorner[1]={0};
gpu_fast_->write_buf(0,2,1,icorner);
gpu_fast_->write_buf(0,3,(1 << 18));
}
void AbstractDetector::resetGrid()
@@ -67,9 +59,11 @@ FastDetector::FastDetector(
const int img_width,
const int img_height,
const int cell_size,
opencl* gpu_fast_,
const int n_pyr_levels) :
AbstractDetector(img_width, img_height, cell_size, n_pyr_levels)
{}
AbstractDetector(img_width, img_height, cell_size, n_pyr_levels),gpu_fast_(gpu_fast_)
{
}
void FastDetector::detect(
Frame* frame,
@@ -81,26 +75,28 @@ void FastDetector::detect(
for(int L=0; L<n_pyr_levels_; ++L)
{
const int scale = (1<<L);
gpu_fast_->reload_buf(0,0,img_pyr[L].data);
cv::Mat img=img_pyr.at(L);
gpu_fast_->reload_buf(0,0,img);
int icorner[1]={0};
gpu_fast_->reload_buf(0,2,icorner);
gpu_fast_->run(0,img_pyr[L].cols,img_pyr[L].rows);
cl_int2* fast_corners;
cl_int2 fast_corners[1000000];
gpu_fast_->read(0,1,fast_corners);
int count[1]={0};
gpu_fast_->read(0,2,count);
//vector<int> scores, nm_corners;
//fast::fast_corner_score_10((fast::fast_byte*) img_pyr[L].data, img_pyr[L].cols, fast_corners, 20, scores);
//fast::fast_nonmax_3x3(fast_corners, scores, nm_corners);
for(uint i=0;i<count[0];++i)
{
if(fast_corners[i].x<0 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0)continue;
if(fast_corners[i].x<0 || fast_corners[i].x>img_pyr[L].cols || fast_corners[i].y>img_pyr[L].rows || fast_corners[i].y<0)
continue;
const int k = static_cast<int>((fast_corners[i].y*scale)/cell_size_)*grid_n_cols_
+ static_cast<int>((fast_corners[i].x*scale)/cell_size_);
if(grid_occupancy_[k])
continue;
const float score = vk::shiTomasiScore(img_pyr[L], fast_corners[i].x, fast_corners[i].y);
if(score > corners.at(k).score)
corners.at(k) = Corner(fast_corners[i].x*scale, fast_corners[i].y*scale, score, L, 0.0f);
}