From 45567edc40f994aaa4c01f6134927cfce263e033 Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Thu, 11 Aug 2022 09:57:38 +0200
Subject: [PATCH] Remove print and add comment
---
include/vision/processor/processor_visual_odometry.h | 5 +++++
src/processor/processor_visual_odometry.cpp | 1 -
2 files changed, 5 insertions(+), 1 deletion(-)
diff --git a/include/vision/processor/processor_visual_odometry.h b/include/vision/processor/processor_visual_odometry.h
index 63e2c92c0..1b663f007 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 09789139a..9664900f7 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);
--
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