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use fast kernel

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This commit is contained in:
VahdPourAmin
2021-09-14 09:12:00 +02:00
parent eefd5079c5
commit cbbb2a348b
3 changed files with 1 additions and 29917 deletions
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GPU_version/vio/depth_filter_log.txt
-24461
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GPU_version/vio/frame_handler_log.txt
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GPU_version/vio/src/frame_handler_mono.cpp
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@@ -221,7 +221,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
} }
fprintf(log_,"null : %d, null point : %d\n", nullcount, nullpointcount); fprintf(log_,"null : %d, null point : %d\n", nullcount, nullpointcount);
#endif*/ #endif*/
reprojector_.reprojectMap2(new_frame_, last_frame_,overlap_kfs_); reprojector_.reprojectMap2(new_frame_, last_frame_,overlap_kfs_, gpu_fast_);
int n_point=0; int n_point=0;
for(auto i:overlap_kfs_)n_point+=i.second; for(auto i:overlap_kfs_)n_point+=i.second;
#if VIO_DEBUG #if VIO_DEBUG