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read camera parameters dynamicly

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This commit is contained in:
gfuse
2021-08-11 19:03:47 +02:00
parent 819cc047c6
commit d0bac30af9
3 changed files with 12 additions and 5 deletions
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GPU_version/vio/include/vio/cl_class.h
+3 -1
View File
@@ -12,6 +12,7 @@
#include <exception> #include <exception>
#include <CL/opencl.h> #include <CL/opencl.h>
#include <opencv2/opencv.hpp> #include <opencv2/opencv.hpp>
#include <vio/abstract_camera.h>
class kernel{ class kernel{
public: public:
@@ -114,7 +115,7 @@ public:
}; };
class opencl{ class opencl{
public: public:
opencl(); opencl(vk::AbstractCamera* cam);
~opencl(); ~opencl();
int32_t make_kernel(std::string name){_kernels.push_back(kernel(program,name));}; int32_t make_kernel(std::string name){_kernels.push_back(kernel(program,name));};
template<typename T> template<typename T>
@@ -195,6 +196,7 @@ private:
cl::Device* device = nullptr; cl::Device* device = nullptr;
cl::Program* program = nullptr; cl::Program* program = nullptr;
cl::CommandQueue* queue= nullptr; cl::CommandQueue* queue= nullptr;
vk::AbstractCamera* cam= nullptr;
}; };
#endif //VIO_OPENCL_CL_CLASS_H #endif //VIO_OPENCL_CL_CLASS_H
GPU_version/vio/src/cl_class.cpp
+8 -3
View File
@@ -2,7 +2,7 @@
// Created by root on 4/27/21. // Created by root on 4/27/21.
// //
#include <vio/cl_class.h> #include <vio/cl_class.h>
opencl::opencl() { opencl::opencl(vk::AbstractCamera* cam):cam(cam) {
std::vector<cl::Platform> all_platforms; std::vector<cl::Platform> all_platforms;
cl::Platform::get(&all_platforms); cl::Platform::get(&all_platforms);
if (all_platforms.size() == 0){ if (all_platforms.size() == 0){
@@ -27,7 +27,6 @@ opencl::opencl() {
<< "CL_DEVICE_COMPILER_AVAILABLE: " <<device->getInfo<CL_DEVICE_COMPILER_AVAILABLE>()<<'\n' << "CL_DEVICE_COMPILER_AVAILABLE: " <<device->getInfo<CL_DEVICE_COMPILER_AVAILABLE>()<<'\n'
<< "CL_DEVICE_LOCAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_LOCAL_MEM_SIZE>()<<'\n' << "CL_DEVICE_LOCAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_LOCAL_MEM_SIZE>()<<'\n'
<< "CL_DEVICE_GLOBAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_GLOBAL_MEM_SIZE>()<<'\n'; << "CL_DEVICE_GLOBAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_GLOBAL_MEM_SIZE>()<<'\n';
context=new cl::Context({ *device }); context=new cl::Context({ *device });
cl::Program::Sources sources; cl::Program::Sources sources;
read_cl fast(std::string(KERNEL_DIR)+"/fast-gray.cl"); read_cl fast(std::string(KERNEL_DIR)+"/fast-gray.cl");
@@ -35,7 +34,13 @@ opencl::opencl() {
read_cl compute_residual(std::string(KERNEL_DIR)+"/compute-residual.cl"); read_cl compute_residual(std::string(KERNEL_DIR)+"/compute-residual.cl");
sources.push_back({ compute_residual.src_str, compute_residual.size }); sources.push_back({ compute_residual.src_str, compute_residual.size });
program=new cl::Program(*context, sources); program=new cl::Program(*context, sources);
if(program->build({ *device },"-DFAST_THRESH=40 -DPATCH_SIZE=2 -DPATCH_HALFSIZE=1 -DF_X=296.724480 -DF_Y=395.357280 -DC_X=317.877600 -DC_Y=238.752640 -DS=1.016870") !=0) double* camera=cam->params();
std::string options="-DFAST_THRESH=40 -DPATCH_SIZE=2 -DPATCH_HALFSIZE=1 -DF_X="+ std::to_string(camera[0]) +
" -DF_Y="+std::to_string(camera[1])+
" -DC_X="+std::to_string(camera[2])+
" -DC_Y="+std::to_string(camera[3])+
" -DS="+std::to_string(camera[4]);
if(program->build({ *device },options.c_str()) !=0)
std::cout << " Error building: " << program->getBuildInfo<CL_PROGRAM_BUILD_STATUS>(*device)<<'\n' std::cout << " Error building: " << program->getBuildInfo<CL_PROGRAM_BUILD_STATUS>(*device)<<'\n'
<<program->getBuildInfo<CL_PROGRAM_BUILD_LOG>(*device) << '\n'; <<program->getBuildInfo<CL_PROGRAM_BUILD_LOG>(*device) << '\n';
queue=new cl::CommandQueue(*context,*device,CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE,NULL); queue=new cl::CommandQueue(*context,*device,CL_QUEUE_OUT_OF_ORDER_EXEC_MODE_ENABLE,NULL);
GPU_version/vio/src/frame_handler_mono.cpp
+1 -1
View File
@@ -36,7 +36,7 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Eigen::Matrix<double,
ukfPtr_(init), ukfPtr_(init),
time_(ros::Time::now()) time_(ros::Time::now())
{ {
gpu_fast_= new opencl(); gpu_fast_= new opencl(cam_);
gpu_fast_->make_kernel("fast_gray"); gpu_fast_->make_kernel("fast_gray");
cv::Mat img=cv::Mat(cv::Size(700, 500),CV_8UC1); cv::Mat img=cv::Mat(cv::Size(700, 500),CV_8UC1);
gpu_fast_->write_buf(0,0,img); gpu_fast_->write_buf(0,0,img);