public/vio
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

debug gpu version done

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
GPU_version/svo/src/frame_handler_mono.cpp
+24 -14
View File
@@ -14,18 +14,18 @@
// 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/config.h>
#include <svo/frame_handler_mono.h>
#include <svo/map.h>
#include <svo/frame.h>
#include <svo/feature.h>
#include <svo/point.h>
#include <svo/pose_optimizer.h>
#include <svo/sparse_img_align.h>
#include <gpu_svo/config.h>
#include <gpu_svo/frame_handler_mono.h>
#include <gpu_svo/map.h>
#include <gpu_svo/frame.h>
#include <gpu_svo/feature.h>
#include <gpu_svo/point.h>
#include <gpu_svo/pose_optimizer.h>
#include <gpu_svo/sparse_img_align.h>
#include <vikit/performance_monitor.h>
#include <svo/depth_filter.h>
#include <gpu_svo/depth_filter.h>
#ifdef USE_BUNDLE_ADJUSTMENT
#include <svo/bundle_adjustment.h>
#include <gpu_svo/bundle_adjustment.h>
#endif
namespace svo {
@@ -36,6 +36,16 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init)
reprojector_(cam_, map_),
depth_filter_(NULL)
{
gpu_fast_= new opencl();
gpu_fast_->make_kernel("fast_gray");
cv::Mat img=cv::Mat(cv::Size(1000, 1000),CV_8UC1);
gpu_fast_->write_buf(0,0,img);
cl_int2 corners_[1000000];
gpu_fast_->write_buf(0,1,1000000,corners_);
int icorner[1]={0};
gpu_fast_->write_buf(0,2,1,icorner);
gpu_fast_->write_buf(0,3,(1 << 18));
klt_homography_init_=new initialization::KltHomographyInit(gpu_fast_);
initialize();
imu_integPtr_=std::make_unique<Imu_Integration>(SE_init);
}
@@ -44,7 +54,7 @@ void FrameHandlerMono::initialize()
{
feature_detection::DetectorPtr feature_detector(
new feature_detection::FastDetector(
cam_->width(), cam_->height(), Config::gridSize(), Config::nPyrLevels()));
cam_->width(), cam_->height(), Config::gridSize(),gpu_fast_, Config::nPyrLevels()));
DepthFilter::callback_t depth_filter_cb = boost::bind(
&MapPointCandidates::newCandidatePoint, &map_.point_candidates_, _1, _2);
depth_filter_ = new DepthFilter(feature_detector, depth_filter_cb);
@@ -90,7 +100,7 @@ void FrameHandlerMono::addImage(const cv::Mat& img, const double timestamp)
FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame()
{
new_frame_->T_f_w_ = SE3(Matrix3d::Identity(), Vector3d::Zero());
if(klt_homography_init_.addFirstFrame(new_frame_) == initialization::FAILURE)
if(klt_homography_init_->addFirstFrame(new_frame_) == initialization::FAILURE)
return RESULT_NO_KEYFRAME;
new_frame_->setKeyframe();
map_.addKeyframe(new_frame_);
@@ -101,7 +111,7 @@ FrameHandlerMono::UpdateResult FrameHandlerMono::processFirstFrame()
FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
{
initialization::InitResult res = klt_homography_init_.addSecondFrame(new_frame_);
initialization::InitResult res = klt_homography_init_->addSecondFrame(new_frame_);
if(res == initialization::FAILURE)
return RESULT_FAILURE;
else if(res == initialization::NO_KEYFRAME)
@@ -120,7 +130,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processSecondFrame()
// add frame to map
map_.addKeyframe(new_frame_);
stage_ = STAGE_DEFAULT_FRAME;
klt_homography_init_.reset();
klt_homography_init_->reset();
SVO_INFO_STREAM("Init: Selected second frame, triangulated initial map.");
return RESULT_IS_KEYFRAME;
}