Recommit

wpfhtl · Aug 23, 2014 · c9beb9b · c9beb9b
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@@ -29,3 +29,5 @@ Notes:
 Camera intrinsic parameters (K matrices for rgb and depth images) are defined in the "src/cameraParameters.h" file. The program does not use "/camera_info" messages in the data files. The current parameters are set at the default values for Xtion sensors.
 
 The current program uses “/camera/rgb/image_rect” and “/camera/depth_registered/image” messages published by the “openni_camera” driver. Users can also remap from other messages such as “/camera/rgb/image” (for rgb images) and “/camera/depth/image” (for depth images). However, if using “/camera/depth/image”, pleases remember to change “kDepth” (K matrix for depth images) in the “cameraParameters.h” file to those in the “/camera/depth/camera_info” messages.
+
+It is possible to accelerate feature tracking with a GPU. To do this, simply replace the "src/featureTracking.cpp" file with the "src/featureTracking_ocl.cpp" file and recompile. We use OpenCL to communicate with the GPU. Users first need to install OpenCL in a version no earlier than 1.1 with full profile, then install OpenCV using CMake with flag WITH_OPENCL=ON.