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debug GPU version

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This commit is contained in:
gfuse
2021-05-26 10:50:20 +02:00
parent 1fba26dfef
commit cd6f0c5b97
58 changed files with 3828 additions and 425 deletions
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GPU_version/svo/include/gpu_svo/sparse_img_align.h
+3 -4
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@@ -17,8 +17,7 @@
#ifndef SVO_SPARSE_IMG_ALIGN_H_
#define SVO_SPARSE_IMG_ALIGN_H_
#include <vikit/nlls_solver.h>
#include <vikit/performance_monitor.h>
#include <gpu_svo/nlls_solver.h>
#include <gpu_svo/global.h>
namespace vk {
@@ -32,8 +31,8 @@ class Feature;
/// Optimize the pose of the frame by minimizing the photometric error of feature patches.
class SparseImgAlign : public vk::NLLSSolver<6, SE3>
{
static const int patch_halfsize_ = 2;
static const int patch_size_ = 2*patch_halfsize_;
static const int patch_halfsize_ = 6;
static const int patch_size_ = 6*patch_halfsize_;
static const int patch_area_ = patch_size_*patch_size_;
public:
EIGEN_MAKE_ALIGNED_OPERATOR_NEW