From 142654cf64069ea7197c76cbc6c536ffba611c63 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Mon, 18 Apr 2022 12:44:10 +0200
Subject: [PATCH] Print the tracks -> there are a lot a duplicates!!
---
src/processor/processor_visual_odometry.cpp | 7 +++++++
1 file changed, 7 insertions(+)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 2ab7273b9..9ef38521b 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -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);
}
--
GitLab