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Commit 142654cf authored by Mederic Fourmy's avatar Mederic Fourmy
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Print the tracks -> there are a lot a duplicates!!

parent f28b8784
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2 merge requests!36After cmake and const refactor,!28Resolve "Building a new visual odometry system"
......@@ -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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