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optimized gpu

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This commit is contained in:
gfuse
2021-05-11 10:38:13 +02:00
parent 2d0f81ebe0
commit d3dbd88133
9 changed files with 12972 additions and 23 deletions
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GPU_version/svo/src/frame_handler_mono.cpp
+3 -3
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@@ -38,10 +38,10 @@ FrameHandlerMono::FrameHandlerMono(vk::AbstractCamera* cam,Sophus::SE3& SE_init)
{
gpu_fast_= new opencl();
gpu_fast_->make_kernel("fast_gray");
cv::Mat img=cv::Mat(cv::Size(1000, 1000),CV_8UC1);
cv::Mat img=cv::Mat(cv::Size(700, 500),CV_8UC1);
gpu_fast_->write_buf(0,0,img);
cl_int2 corners_[1000000];
gpu_fast_->write_buf(0,1,1000000,corners_);
cl_int2 corners_[350000];
gpu_fast_->write_buf(0,1,350000,corners_);
int icorner[1]={0};
gpu_fast_->write_buf(0,2,1,icorner);
gpu_fast_->write_buf(0,3,(1 << 18));