From 869a72a6c7aa23c4672c6137c7c2cd12ac603d84 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 17 Apr 2022 18:34:25 +0200
Subject: [PATCH] Print a bar in Terminal with the number of tracks
---
src/processor/processor_visual_odometry.cpp | 13 +++++++++++--
1 file changed, 11 insertions(+), 2 deletions(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 3fe9961f0..b3f4b429b 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -299,6 +299,14 @@ void ProcessorVisualOdometry::preProcess()
auto 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;
+ for (int i = 0; i<capture_image_incoming_->getKeyPoints().size(); i++)
+ {
+ s += "#";
+ }
+ WOLF_INFO("TRACKS: ", s);
+
WOLF_INFO( "dt_preprocess (ms): " , dt_preprocess );
return;
@@ -514,6 +522,9 @@ void ProcessorVisualOdometry::postProcess()
else
++track_it;
}
+
+ // print a blank line
+ WOLF_INFO("");
}
bool ProcessorVisualOdometry::voteForKeyFrame() const
@@ -530,8 +541,6 @@ bool ProcessorVisualOdometry::voteForKeyFrame() const
vote = vote || incoming_ptr_->getFeatureList().size() < params_visual_odometry_->min_features_for_keyframe;
- std::cout << "vote " << vote << std::endl;
-
return vote;
}
--
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