support more camera models

.github/workflows/build.yml

@@ -24,7 +24,7 @@ concurrency:
 
 jobs:
   build:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     defaults:
       run:
         shell: bash -l {0}
@@ -38,5 +38,5 @@ jobs:
       - name: Build and install
         run: |
           mv /xrprimer ../
-          cmake -B build -D XRSLAM_TEST=ON
+          cmake -B build
           cmake --build build -j4

.github/workflows/lint.yml

@@ -8,7 +8,7 @@ concurrency:
 
 jobs:
   lint:
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-20.04
     steps:
       - uses: actions/checkout@v2
       - name: Set up Python 3.8

3rdparty/SiftGPU/CMakeLists.txt

@@ -50,4 +50,5 @@ message(STATUS " CUDA Module : ${SIFT_GPU_LIBRARIES} | ${GLEW_LIBRARIES}")
 
 target_link_libraries(sift_gpu
     ${GLEW_LIBRARIES}
+    ${OPENGL_gl_LIBRARY}
 )

3rdparty/SiftGPU/CuTexImage.h

@@ -31,6 +31,8 @@ struct textureReference;
 
 #define SIFTGPU_ENABLE_LINEAR_TEX2D
 
+typedef unsigned int GLuint;
+
 class CuTexImage {
   protected:
     void *_cuData;

3rdparty/SiftGPU/GLTexImage.cpp

@@ -72,7 +72,7 @@ int GLTexImage::CheckTexture() {
         return _texWidth == 0 && _texHeight == 0;
     }
 }
-// set a dimension that is smaller than the actually size
+// set a dimension that is smaller than the actual size
 // for drawQuad
 void GLTexImage::SetImageSize(int width, int height) {
     _drawWidth = _imgWidth = width;

3rdparty/SiftGPU/GLTexImage.h

@@ -4,7 +4,7 @@
 //	Description : interface for the GLTexImage class.
 //		GLTexImage:		naive texture class.
 //						sevral different quad drawing
-// functions are provide 		GLTexPacked:	packed version (four
+// functions are provided 		GLTexPacked:	packed version (four
 // value packed as four channels of a pixel) 		GLTexInput:
 // GLTexImage + some input information
 //

3rdparty/SiftGPU/GlobalUtil.cpp

@@ -312,6 +312,8 @@ void GlobalUtil::InitGLParam(int NotTargetGL) {
 
         const char *vendor = (const char *)glGetString(GL_VENDOR);
         if (vendor) {
+            if (GlobalUtil::_verbose)
+                std::cout << "[GPU VENDOR]:\t" << vendor << "\n";
             GlobalUtil::_IsNvidia = (strstr(vendor, "NVIDIA") != NULL ? 1 : 0);
 
             // Let nVidia compiler to take care of the unrolling.