diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h index 63e2c92c075c66753fc8de154caad5787b5e958f..1b663f007098aed5c0118c8e9f50a4502c3d7dc1 100644 --- a/include/vision/processor/processor_visual_odometry.h +++ b/include/vision/processor/processor_visual_odometry.h @@ -352,6 +352,9 @@ class ProcessorVisualOdometry : public ProcessorTracker, public MotionProvider const TrackMatrix& getTrackMatrix() const {return track_matrix_;} + /////////////////////////////////////// + // MotionProvider related methods + VectorComposite getStateFromRelativeOriginLast(VectorComposite co_pose_cl) const; static VectorComposite pose_from_essential_matrix(const cv::Mat& _E, @@ -359,6 +362,8 @@ class ProcessorVisualOdometry : public ProcessorTracker, public MotionProvider const std::vector<cv::Point2d>& p2d_curr, const cv::Mat& _K, cv::Mat& cvMask); + /////////////////////////////////////// + /** \brief sequence of heuristics to decide if a track is worthy of becoming a landmark * diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp index 09789139ae432bdd681dc9dadfd2f97655f5f23a..9664900f7a6e8c5fd26719990bffd646f31c998b 100644 --- a/src/processor/processor_visual_odometry.cpp +++ b/src/processor/processor_visual_odometry.cpp @@ -375,7 +375,6 @@ void ProcessorVisualOdometry::establishFactors() // 2) create a landmark if the track is not associated with one and meets certain criterias else if(new_landmark_is_viable(feat->trackId())) { - WOLF_INFO(" NEW valid track \\o/") Track track_kf = track_matrix_.trackAtKeyframes(feat->trackId()); // LandmarkBasePtr lmk = emplaceLandmarkTriangulation(feat_pi, track_kf);