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mobile_robotics
wolf_projects
wolf_lib
plugins
vision
Commits
142654cf
Commit
142654cf
authored
3 years ago
by
Mederic Fourmy
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Print the tracks -> there are a lot a duplicates!!
parent
f28b8784
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2 merge requests
!36
After cmake and const refactor
,
!28
Resolve "Building a new visual odometry system"
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src/processor/processor_visual_odometry.cpp
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src/processor/processor_visual_odometry.cpp
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142654cf
...
...
@@ -298,6 +298,13 @@ void ProcessorVisualOdometry::preProcess()
capture_image_incoming_
->
setTracksPrev
(
tracks_last_incoming_filtered
);
capture_image_incoming_
->
setTracksOrigin
(
tracks_origin_incoming
);
// careful!
// Let's see all these tracks:
for
(
auto
track
:
tracks_last_incoming_filtered
){
auto
kp_last
=
capture_image_last_
->
getKeyPoints
().
at
(
track
.
first
);
auto
kp_inco
=
capture_image_incoming_
->
getKeyPoints
().
at
(
track
.
second
);
WOLF_TRACE
(
"Track from: "
,
kp_last
.
getCvKeyPoint
().
pt
,
" to "
,
kp_inco
.
getCvKeyPoint
().
pt
)
}
// add a flag so that voteForKeyFrame use it to vote for a KeyFrame
capture_image_incoming_
->
setLastWasRepopulated
(
true
);
}
...
...
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