raphael/msckf_vio
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g-spacewhale
2019-03-15 07:47:29 +00:00
parent 3c8e446f76
commit ea93237912
5 changed files with 38 additions and 1 deletions
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9
include/msckf_vio/image_processor.h
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@ -14,6 +14,10 @@
#include <opencv2/opencv.hpp>
#include <opencv2/video.hpp>
#include <opencv2/cudaoptflow.hpp>
#include <opencv2/cudaimgproc.hpp>
#include <opencv2/cudaarithm.hpp>
#include <ros/ros.h>
#include <cv_bridge/cv_bridge.h>
#include <image_transport/image_transport.h>
@ -363,6 +367,11 @@ private:
boost::shared_ptr<GridFeatures> prev_features_ptr;
boost::shared_ptr<GridFeatures> curr_features_ptr;
cv::cuda::GpuMat curr_cam0_pyramid_gpu;
cv::cuda::GpuMat curr_cam1_pyramid_gpu;
cv::cuda::GpuMat cam0_points_gpu;
cv::cuda::GpuMat cam1_points_gpu;
// Number of features after each outlier removal step.
int before_tracking;
int after_tracking;

7
include/msckf_vio/utils.h
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@ -11,6 +11,9 @@
#include <ros/ros.h>
#include <string>
#include <opencv2/core/core.hpp>
#include <opencv2/cudaoptflow.hpp>
#include <opencv2/cudaimgproc.hpp>
#include <opencv2/cudaarithm.hpp>
#include <Eigen/Geometry>
namespace msckf_vio {
@ -18,6 +21,10 @@ namespace msckf_vio {
* @brief utilities for msckf_vio
*/
namespace utils {
static void download(const cv::cuda::GpuMat& d_mat, std::vector<uchar>& vec);
static void download(const cv::cuda::GpuMat& d_mat, std::vector<cv::Point2f>& vec);
Eigen::Isometry3d getTransformEigen(const ros::NodeHandle &nh,
const std::string &field);