Can we use 16-bit RGB image as input without converting into 8-bit RGB(by libpng)? about badslam HOT 3 OPEN

The PNG loading code is written such that it always tries to convert the file's format to the format of the Image object which the file is loaded into. So, if that works as intended, with a 3-channel 16-bit Image used as output, loading the images might already work.

However, to actually use 16-bit RGB images in the SLAM algorithm would require adjusting other places in the code. As a start, this definition has Vec3u8 (a 3-channel 8-bit unsigned char vector) hard-coded as color type and would need to be adjusted to something like Eigen::Matrix<u16, 3, 1>:

And then any potential other places that might assume that the color is 8 bits per channel need to be adjusted. For example, the color storage in keyframes:

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I adjusted a lot of places that assume the color image is 8-bit RGB along the dirction of data flow, but I got stuck here:

Once I extend the "template class CUDABuffer_<uchar4>;" to "template class CUDABuffer_<ushort4>;", an error

""Invalid operands to binary expression ('ushort4' and 'float')" "

occurs at :

How do you think I should adjust this?
Hmm, does that mean I should override operator "*"? Does it make sense for next steps?

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No, look here instead:

This list contains an entry for uchar4:

So it probably makes sense to add an entry for ushort4 there as well. This should cause the function containing line 89 not to be compiled for that type.

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