debug GPU version

GPU_version/svo/src/sparse_img_align.cpp

@@ -20,9 +20,9 @@
 #include <gpu_svo/feature.h>
 #include <gpu_svo/config.h>
 #include <gpu_svo/point.h>
-#include <vikit/abstract_camera.h>
-#include <vikit/vision.h>
-#include <vikit/math_utils.h>
+#include <gpu_svo/abstract_camera.h>
+#include <gpu_svo/vision.h>
+#include <gpu_svo/math_utils.h>
 
 namespace svo {
 
@@ -54,12 +54,12 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame)
   cur_frame_ = cur_frame;
   ref_patch_cache_ = cv::Mat(ref_frame_->fts_.size(), patch_area_, CV_32F);
   jacobian_cache_.resize(Eigen::NoChange, ref_patch_cache_.rows*patch_area_);
-  visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level?
-
+  //visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level?
   SE3 T_cur_from_ref(cur_frame_->T_f_w_ * ref_frame_->T_f_w_.inverse());
 
   for(level_=max_level_; level_>=min_level_; --level_)
   {
+    visible_fts_.resize(ref_patch_cache_.rows, false); // TODO: should it be reset at each level?
     mu_ = 0.1;
     jacobian_cache_.setZero();
     have_ref_patch_cache_ = false;
@@ -69,8 +69,6 @@ size_t SparseImgAlign::run(FramePtr ref_frame, FramePtr cur_frame)
   }
   cur_frame_->T_f_w_ = T_cur_from_ref * ref_frame_->T_f_w_;
 
-
-
   return n_meas_/patch_area_;
 }