From d565d4f508fefd34c2a2511b4dbcf05ae35d823d Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Wed, 18 May 2022 10:54:47 +0200
Subject: [PATCH] [skip ci] Add bar with # of features
---
src/processor/processor_visual_odometry.cpp | 12 +++++++++---
1 file changed, 9 insertions(+), 3 deletions(-)
diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index 652f5b057..81bcfe224 100644
--- a/src/processor/processor_visual_odometry.cpp
+++ b/src/processor/processor_visual_odometry.cpp
@@ -529,14 +529,20 @@ void ProcessorVisualOdometry::postProcess()
track_matrix_.remove(track_id);
}
- // print a bar with the number of active tracks in incoming
+ // print a bar with the number of active features in incoming
unsigned int n = capture_image_incoming_->getKeyPoints().size();
std::string s(n/2, '#');
- WOLF_INFO("TRACKS: ", n, " ", s);
+ WOLF_INFO("FEATRS/2: ", n, " ", s);
+ // print a bar with the number of active tracks
+ n = track_matrix_.trackIds().size();
+ s = std::string(n/4, 'o');
+ WOLF_INFO("TRACKS/4: ", n, " ", s);
+
+ // print a bar with the number of landmarks
n = getProblem()->getMap()->getLandmarkList().size();
s = std::string(n/2, '-');
- WOLF_INFO("LMARKS: ", n, " ", s);
+ WOLF_INFO("LMARKS/2: ", n, " ", s);
}
bool ProcessorVisualOdometry::voteForKeyFrame() const
--
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