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Commit 73673fda authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Reduce debug printed info. leave only the TRACKS bar

parent 66bf4dd5
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src/processor/processor_visual_odometry.cpp
View file @ 73673fda
......@@ -121,7 +121,7 @@ void ProcessorVisualOdometry::preProcess()
}
}
}
WOLF_INFO( "Initially detected " , capture_image_incoming_->getKeyPoints().size(), " keypoints in incoming" );
WOLF_DEBUG( "Initially detected " , capture_image_incoming_->getKeyPoints().size(), " keypoints in incoming" );
// Initialize the tracks data structure with a "dummy track" where the keypoint is pointing to itself
TracksMap tracks_init;
......@@ -137,10 +137,10 @@ void ProcessorVisualOdometry::preProcess()
{
s += "#";
}
WOLF_INFO("TRACKS: ", s);
WOLF_INFO("TRACKS: ", capture_image_incoming_->getKeyPoints().size(), " ", s);
auto dt_preprocess = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
WOLF_INFO( "dt_preprocess (ms): " , dt_preprocess );
auto __attribute__((unused)) dt_preprocess = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
WOLF_DEBUG( "dt_preprocess (ms): " , dt_preprocess );
return;
}
......@@ -165,13 +165,13 @@ void ProcessorVisualOdometry::preProcess()
WOLF_INFO( "Tracking " , mwkps_last.size(), " keypoints in last" );
WOLF_DEBUG( "Tracking " , mwkps_last.size(), " keypoints in last" );
// TracksMap between last and incoming
// Input: ID of Wkp in last. Output: ID of the tracked Wkp in incoming.
TracksMap tracks_last_incoming = kltTrack(img_last, img_incoming, mwkps_last, mwkps_incoming);
// WOLF_INFO( "Tracked " , mwkps_incoming.size(), " keypoints to incoming" );
// WOLF_DEBUG( "Tracked " , mwkps_incoming.size(), " keypoints to incoming" );
// TracksMap between origin and last
// Input: ID of Wkp in origin. Output: ID of the tracked Wkp in last.
......@@ -181,7 +181,7 @@ void ProcessorVisualOdometry::preProcess()
// Input: ID of Wkp in origin. Output: ID of the tracked Wkp in incoming.
TracksMap tracks_origin_incoming = mergeTracks(tracks_origin_last, tracks_last_incoming);
// WOLF_INFO( "Merged " , tracks_last_incoming.size(), " tracks..." );
// WOLF_DEBUG( "Merged " , tracks_last_incoming.size(), " tracks..." );
// Outliers rejection with essential matrix
cv::Mat E;
......@@ -200,7 +200,7 @@ void ProcessorVisualOdometry::preProcess()
}
}
}
WOLF_INFO( "Tracked " , mwkps_incoming_filtered.size(), " inliers in incoming" );
WOLF_DEBUG( "Tracked " , mwkps_incoming_filtered.size(), " inliers in incoming" );
////////////////////////////////
......@@ -209,12 +209,12 @@ void ProcessorVisualOdometry::preProcess()
////////////////////////////////
size_t n_tracks_origin = tracks_origin_incoming.size();
// WOLF_INFO("# of tracks: ", n_tracks_origin, "; min # of tracks: ", params_visual_odometry_->min_features_for_keyframe);
// WOLF_DEBUG("# of tracks: ", n_tracks_origin, "; min # of tracks: ", params_visual_odometry_->min_features_for_keyframe);
if (n_tracks_origin < params_visual_odometry_->min_features_for_keyframe)
{
// WOLF_INFO( "Too Few Tracks. Detecting more keypoints in last" );
// WOLF_DEBUG( "Too Few Tracks. Detecting more keypoints in last" );
// Erase all keypoints previously added to the cell grid
cell_grid_.renew();
......@@ -265,7 +265,7 @@ void ProcessorVisualOdometry::preProcess()
}
}
// WOLF_INFO("Detected ", kps_last_new.size(), " new raw keypoints");
// WOLF_DEBUG("Detected ", kps_last_new.size(), " new raw keypoints");
// Create a map of wolf KeyPoints to track only the new ones
KeyPointsMap mwkps_last_new, mwkps_incoming_new;
......@@ -273,13 +273,13 @@ void ProcessorVisualOdometry::preProcess()
WKeyPoint wkp(cvkp);
mwkps_last_new[wkp.getId()] = wkp;
}
WOLF_INFO("Detected ", mwkps_last_new.size(), " new keypoints in last");
WOLF_DEBUG("Detected ", mwkps_last_new.size(), " new keypoints in last");
TracksMap tracks_last_incoming_new = kltTrack(img_last, img_incoming, mwkps_last_new, mwkps_incoming_new);
WOLF_INFO("Tracked ", mwkps_incoming_new.size(), " inliers in incoming");
WOLF_DEBUG("Tracked ", mwkps_incoming_new.size(), " inliers in incoming");
// WOLF_INFO("Tracked ", mwkps_incoming_new.size(), " new keypoints to incoming");
// WOLF_DEBUG("Tracked ", mwkps_incoming_new.size(), " new keypoints to incoming");
// Concatenation of old tracks and new tracks
for (auto & track: tracks_last_incoming_new){
......@@ -292,7 +292,7 @@ void ProcessorVisualOdometry::preProcess()
// tracks that are not geometrically consistent are removed from tracks_last_incoming_new
filterWithEssential(mwkps_last_filtered, mwkps_incoming_filtered, tracks_last_incoming_filtered, E);
WOLF_INFO("New total : ", n_tracks_origin, " + ", mwkps_incoming_new.size(), " = ", tracks_last_incoming_filtered.size(), " tracks");
WOLF_DEBUG("New total : ", n_tracks_origin, " + ", mwkps_incoming_new.size(), " = ", tracks_last_incoming_filtered.size(), " tracks");
// add a flag so that voteForKeyFrame use it to vote for a KeyFrame
capture_image_incoming_->setLastWasRepopulated(true);
......@@ -303,7 +303,7 @@ void ProcessorVisualOdometry::preProcess()
}
else
{
WOLF_INFO("\n\n");
WOLF_DEBUG("\n\n");
}
// Update captures
......@@ -311,7 +311,7 @@ void ProcessorVisualOdometry::preProcess()
capture_image_incoming_->setTracksPrev(tracks_last_incoming_filtered);
capture_image_incoming_->setTracksOrigin(tracks_origin_incoming);
auto dt_preprocess = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
auto __attribute__((unused)) dt_preprocess = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
// print a bar with the number of active tracks in incoming
std::string s;
......@@ -319,9 +319,9 @@ void ProcessorVisualOdometry::preProcess()
{
s += "#";
}
WOLF_INFO("TRACKS: ", s);
WOLF_INFO("TRACKS: ", capture_image_incoming_->getKeyPoints().size(), " ", s);
WOLF_INFO( "dt_preprocess (ms): " , dt_preprocess );
WOLF_DEBUG( "dt_preprocess (ms): " , dt_preprocess );
return;
}
......@@ -346,7 +346,7 @@ unsigned int ProcessorVisualOdometry::processKnown()
// otherwise we store the pair as a newly detected track (for processNew)
TracksMap tracks_map_li = capture_image_incoming_->getTracksPrev();
if (tracks_map_li.count(id_feat_last)){
// WOLF_INFO("A corresponding track has been found for id_feat_last ", id_feat_last );
// WOLF_DEBUG("A corresponding track has been found for id_feat_last ", id_feat_last );
auto kp_track_li = tracks_map_li.find(id_feat_last);
// create a feature using the corresponding WKeyPoint contained in incoming (hence the "second")
auto feat_inco = FeatureBase::emplace<FeaturePointImage>(
......@@ -361,8 +361,8 @@ unsigned int ProcessorVisualOdometry::processKnown()
tracks_map_li_matched_.insert(kp_track_li_matched);
}
}
auto dt_processKnown = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
WOLF_INFO( "dt_processKnown (ms): " , dt_processKnown );
auto __attribute__((unused)) dt_processKnown = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
WOLF_DEBUG( "dt_processKnown (ms): " , dt_processKnown );
// return number of successful tracks until incoming
return tracks_map_li_matched_.size();
......@@ -401,8 +401,8 @@ unsigned int ProcessorVisualOdometry::processNew(const int& _max_features)
}
}
auto dt_processNew = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
WOLF_INFO( "dt_processNew (ms): " , dt_processNew );
auto __attribute__((unused)) dt_processNew = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
WOLF_DEBUG( "dt_processNew (ms): " , dt_processNew );
return counter_new_tracks;
}
......
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