added branch

2019-04-03 06:51:18 +00:00
parent f4eb906896
commit c6b8a2c2fc
2 changed files with 30 additions and 7 deletions
--- a/include/msckf_vio/image_processor.h
+++ b/include/msckf_vio/image_processor.h
@ -367,6 +367,8 @@ private:
  boost::shared_ptr<GridFeatures> prev_features_ptr;
  boost::shared_ptr<GridFeatures> curr_features_ptr;

+  cv::Ptr<cv::cuda::SparsePyrLKOpticalFlow> d_pyrLK_sparse;
+
  cv::cuda::GpuMat cam0_curr_img;
  cv::cuda::GpuMat cam1_curr_img;
  cv::cuda::GpuMat cam0_points_gpu;