changed memory allocation in matcher (uzh-rpg#27)

liyunlong2016 · Jul 7, 2014 · 2eabd6d · 2eabd6d
1 parent b4696fd
commit 2eabd6d
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Showing 2 changed files with 4 additions and 18 deletions.
diff --git a/svo/include/svo/matcher.h b/svo/include/svo/matcher.h
@@ -91,8 +91,8 @@ class Matcher
     {}
   } options_;
 
-  uint8_t* patch_;
-  uint8_t* patch_with_border_;
+  uint8_t patch_[patch_size_*patch_size_] __attribute__ ((aligned (16)));
+  uint8_t patch_with_border_[(patch_size_+2)*(patch_size_+2)] __attribute__ ((aligned (16)));
   Matrix2d A_cur_ref_;          //!< affine warp matrix
   Vector2d epi_dir_;
   double epi_length_;           //!< length of epipolar line segment in pixels (only used for epipolar search)
@@ -102,8 +102,8 @@ class Matcher
   Feature* ref_ftr_;
   Vector2d px_cur_;
 
-  Matcher();
-  ~Matcher();
+  Matcher() = default;
+  ~Matcher() = default;
 
   /// Find a match by directly applying subpix refinement.
   /// IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result!

diff --git a/svo/src/matcher.cpp b/svo/src/matcher.cpp
@@ -18,7 +18,6 @@
 #include <vikit/abstract_camera.h>
 #include <vikit/vision.h>
 #include <vikit/math_utils.h>
-#include <vikit/aligned_mem.h>
 #include <vikit/patch_score.h>
 #include <svo/matcher.h>
 #include <svo/frame.h>
@@ -107,19 +106,6 @@ void warpAffine(
 
 } // namespace warp
 
-
-Matcher::Matcher()
-{
-  patch_ = vk::aligned_mem::aligned_alloc<uint8_t>(patch_size_*patch_size_, 16);
-  patch_with_border_ = vk::aligned_mem::aligned_alloc<uint8_t>((patch_size_+2)*(patch_size_+2), 16);
-}
-
-Matcher::~Matcher()
-{
-  free(patch_);
-  free(patch_with_border_);
-}
-
 bool depthFromTriangulation(
     const SE3& T_search_ref,
     const Vector3d& f_ref,