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add GPU svo under development

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This commit is contained in:
gfuse
2021-05-05 12:29:29 +02:00
parent 6a08b7de5d
commit ec7e554add
68 changed files with 10147 additions and 648 deletions
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CPU_version/vio_svo/src/visualizer.cpp
+3 -3
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@@ -19,7 +19,7 @@
#include <svo/point.h>
#include <svo/map.h>
#include <svo/feature.h>
#include <svo_msgs/Info.h>
#include <vio_svo/Info.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <vikit/timer.h>
#include <vikit/output_helper.h>
@@ -37,7 +37,7 @@ Visualizer() :
pub_frames_ = pnh_.advertise<visualization_msgs::Marker>("keyframes", 10);
pub_points_ = pnh_.advertise<visualization_msgs::Marker>("points", 1000);
pub_pose_ = pnh_.advertise<geometry_msgs::PoseWithCovarianceStamped>("pose",10);
pub_info_ = pnh_.advertise<svo_msgs::Info>("info", 10);
pub_info_ = pnh_.advertise<vio_svo::Info>("info", 10);
}
void Visualizer::publishMinimal(
@@ -55,7 +55,7 @@ void Visualizer::publishMinimal(
// publish info msg.
if(pub_info_.getNumSubscribers() > 0)
{
svo_msgs::Info msg_info;
vio_svo::Info msg_info;
msg_info.header = header_msg;
msg_info.processing_time = slam.lastProcessingTime();
msg_info.keyframes.reserve(slam.map().keyframes_.size());