debug GPU version

2021-05-26 10:50:20 +02:00
parent 1fba26dfef
commit cd6f0c5b97
58 changed files with 3828 additions and 425 deletions
@@ -0,0 +1,85 @@
+/*
+ * homography.cpp
+ * Adaptation of PTAM-GPL HomographyInit class.
+ * https://github.com/Oxford-PTAM/PTAM-GPL
+ * Licence: GPLv3
+ * Copyright 2008 Isis Innovation Limited
+ *
+ *  Created on: Sep 2, 2012
+ *      by: cforster
+ *
+ * This class implements the homography decomposition of Faugeras and Lustman's
+ * 1988 tech report. Code converted to Eigen from PTAM.
+ *
+ */
+
+#ifndef HOMOGRAPHY_H_
+#define HOMOGRAPHY_H_
+
+#include <Eigen/Core>
+#include <Eigen/StdVector>
+#include <Eigen/SVD>
+#include <gpu_svo/math_utils.h>
+
+namespace vk {
+
+using namespace Eigen;
+using namespace std;
+
+struct HomographyDecomposition
+{
+  Vector3d t;
+  Matrix3d R;
+  double   d;
+  Vector3d n;
+
+  // Resolved  Composition
+  Sophus::SE3 T; //!< second from first
+  int score;
+};
+
+class Homography
+{
+public:
+  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
+
+  Homography            (const vector<Vector2d, aligned_allocator<Vector2d> >& _fts1,
+                         const vector<Vector2d, aligned_allocator<Vector2d> >& _fts2,
+                         double _error_multiplier2,
+                         double _thresh_in_px);
+
+  void
+  calcFromPlaneParams   (const Vector3d & normal,
+                         const Vector3d & point_on_plane);
+
+  void
+  calcFromMatches       ();
+
+  size_t
+  computeMatchesInliers ();
+
+  bool
+  computeSE3fromMatches ();
+
+  bool
+  decompose             ();
+
+  void
+  findBestDecomposition ();
+
+  double thresh;
+  double error_multiplier2;
+  const vector<Vector2d, aligned_allocator<Vector2d> >& fts_c1; //!< Features on first image on unit plane
+  const vector<Vector2d, aligned_allocator<Vector2d> >& fts_c2; //!< Features on second image on unit plane
+  vector<bool> inliers;
+  SE3 T_c2_from_c1;             //!< Relative translation and rotation of two images
+  Matrix3d H_c2_from_c1;                   //!< Homography
+  vector<HomographyDecomposition> decompositions;
+};
+
+
+
+
+} /* end namespace vk */
+
+#endif /* HOMOGRAPHY_H_ */