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debug the reading kernel buffer

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This commit is contained in:
gfuse
2021-08-12 10:14:33 +02:00
parent d0bac30af9
commit d35296c655
4 changed files with 6 additions and 4 deletions
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GPU_version/vio/kernel/compute-residual.cl
+1 -1
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@@ -74,7 +74,7 @@ __kernel void compute_residual(
if(uv_ref_i.x - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.y - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.x + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref)[0] || uv_ref_i.y + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref)[1])return; if(uv_ref_i.x - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.y - (PATCH_HALFSIZE + 1) < 0 || uv_ref_i.x + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref)[0] || uv_ref_i.y + (PATCH_HALFSIZE + 1) >= get_image_dim(image_ref)[1])return;
// evaluate projection jacobian // evaluate projection jacobian
double frame_jac[6]={0.0}; // 2X3 double frame_jac[6]={0.0}; // 2X3
jacobian_xyz2uv(sqrt(pow(ref_feature[f] - ref_pose[0], 2.0)), &frame_jac); jacobian_xyz2uv(sqrt(pow(ref_feature[f] - (double3)(ref_pose[0].x,0.0,ref_pose[0].y), 2.0)), &frame_jac);
// compute bilateral interpolation weights for reference image // compute bilateral interpolation weights for reference image
double2 subpix= uv_ref - uv_ref_i; double2 subpix= uv_ref - uv_ref_i;
GPU_version/vio/src/frame_handler_mono.cpp
+3 -1
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@@ -164,10 +164,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE; if(img_align.run(last_frame_, new_frame_)==0)return RESULT_FAILURE;
//assert (false); //assert (false);
reprojector_.reprojectMap(new_frame_, overlap_kfs_); reprojector_.reprojectMap(new_frame_, overlap_kfs_);
/*
std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second
<<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_ <<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_
<<"\t distance between two frames: "<< <<"\t distance between two frames: "<<
(last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n'; (last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n';*/
size_t sfba_n_edges_final=0; size_t sfba_n_edges_final=0;
double sfba_thresh, sfba_error_init, sfba_error_final; double sfba_thresh, sfba_error_init, sfba_error_final;
pose_optimizer::optimizeGaussNewton( pose_optimizer::optimizeGaussNewton(
GPU_version/vio/src/sparse_img_align_gpu.cpp
+1 -1
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@@ -78,7 +78,7 @@ size_t SparseImgAlignGpu::run(FramePtr ref_frame, FramePtr cur_frame)
optimize(T_cur); optimize(T_cur);
} }
cl_double3 pos[1]={0}; cl_double3 pos[1]={0};
residual_->read(0,2,pos); residual_->read(1,2,pos);
cur_frame->T_f_w_ = SE2_5(pos[0].x,pos[0].y,pos[0].z); cur_frame->T_f_w_ = SE2_5(pos[0].x,pos[0].y,pos[0].z);
return 1; return 1;
} }
GPU_version/vio/src/vo_node.cpp
+1 -1
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@@ -92,7 +92,7 @@ private:
ros::Time imu_time_; ros::Time imu_time_;
boost::thread* imu_the_= nullptr; boost::thread* imu_the_= nullptr;
#if VIO_DEBUG #if VIO_DEBUG
svo::Visualizer visualizer_; vio::Visualizer visualizer_;
#endif #endif
}; };