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use fast kernel

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This commit is contained in:
VahdPourAmin
2021-09-14 08:48:50 +02:00
parent 5b4130f5d0
commit e95c2ab7cd
3 changed files with 38 additions and 4 deletions
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GPU_version/vio/include/vio/reprojector.h
+5 -1
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@@ -22,6 +22,7 @@
#include <CL/cl.h>
#include <vio/cl_class.h>
#include <vio/initialization.h>
#include <vio/vision.h>
namespace vk {
class AbstractCamera;
@@ -68,7 +69,10 @@ public:
void reprojectMap2(
FramePtr frame,
FramePtr last_frame,
std::vector< std::pair<FramePtr,std::size_t> >& overlap_kfs);
std::vector< std::pair<FramePtr,std::size_t> >& overlap_kfs,
opencl* gpu_fast_);
void fast_detector(cv::Mat img, opencl * gpu_fast_, std::vector<cv::KeyPoint>& keypoints_cur, double detection_threshold);
private:
GPU_version/vio/src/frame_handler_mono.cpp
+1 -1
View File
@@ -221,7 +221,7 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
}
fprintf(log_,"null : %d, null point : %d\n", nullcount, nullpointcount);
#endif*/
reprojector_.reprojectMap2(new_frame_, last_frame_,overlap_kfs_);
reprojector_.reprojectMap2(new_frame_, last_frame_,overlap_kfs_, gpu_fast_);
int n_point=0;
for(auto i:overlap_kfs_)n_point+=i.second;
#if VIO_DEBUG
GPU_version/vio/src/reprojector.cpp
+32 -2
View File
@@ -117,20 +117,50 @@ namespace vio {
break;
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// TODO - fast feature detector
void Reprojector::fast_detector(cv::Mat img, opencl * gpu_fast_, std::vector<cv::KeyPoint>& keypoints_cur, double detection_threshold = Config::triangMinCornerScore()) {
const int width = img.cols;
const int height = img.rows;
gpu_fast_->reload_buf(0,0,img);
int icorner[1]={0};
gpu_fast_->reload_buf(0,2, icorner);
gpu_fast_->run(0, img.cols, img.rows);
int count[1]={0};
gpu_fast_->read(0,2,1, count);
cl_int2 fast_corners[350000];
gpu_fast_->read(0,1,count[0], fast_corners);
for(uint i = 0; i < count[0]; ++i)
{
if(fast_corners[i].x < 0 || fast_corners[i].x > width || fast_corners[i].y < 0 || fast_corners[i].y > height)
continue;
const float score = vk::shiTomasiScore(img, fast_corners[i].x, fast_corners[i].y);
if(score > detection_threshold) {
cv::KeyPoint kp(fast_corners[i].x, fast_corners[i].y, 7);
keypoints_cur.push_back(kp);
}
}
}
////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// TODO - second reimplementation
void Reprojector::reprojectMap2(
FramePtr frame,
FramePtr last_frame,
std::vector<std::pair<FramePtr, std::size_t> > &overlap_kfs) {
std::vector<std::pair<FramePtr, std::size_t> > &overlap_kfs,
opencl* gpu_fast_) {
if(frame->id_<1)return;
resetGrid();
cv::Mat descriptors_cur;
std::vector<cv::KeyPoint> keypoints_cur;
cv::Ptr<cv::xfeatures2d::FREAK> extractor = cv::xfeatures2d::FREAK::create(true, true, 22.0f, 4);
cv::Ptr<cv::BFMatcher> matcher = cv::BFMatcher::create(cv::NORM_HAMMING, true);
cv::FAST(frame->img(), keypoints_cur, 50);
//cv::FAST(frame->img(), keypoints_cur, 50);
//for (int i = 0; i < keypoints_cur.size(); i++)
// std::cerr<<keypoints_cur[i].pt.x<<"\t"<<keypoints_cur[i].pt.y<<"\t"<<keypoints_cur[i].size<<"\t"<<keypoints_cur[i].class_id<<"\t"<<keypoints_cur[i].octave<<"\t"<<keypoints_cur[i].angle<<std::endl;
fast_detector(frame->img(), gpu_fast_, keypoints_cur);
//for (int i = 0; i < keypoints_cur.size(); i++)
// std::cerr<<keypoints_cur[i].pt.x<<"\t"<<keypoints_cur[i].pt.y<<"\t"<<keypoints_cur[i].size<<"\t"<<keypoints_cur[i].class_id<<"\t"<<keypoints_cur[i].octave<<"\t"<<keypoints_cur[i].angle<<std::endl;
extractor->compute(frame->img(), keypoints_cur, descriptors_cur);
list<pair<FramePtr, double> > close_kfs;
map_.getCloseKeyframes(frame, close_kfs);