Commit f83bf8b7 authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Move printing bars to postProcesss() and add a bar foe # of landmarks

parent 118e9d82
......@@ -131,10 +131,6 @@ void ProcessorVisualOdometry::preProcess()
capture_image_incoming_->setTracksOrigin(tracks_init);
capture_image_incoming_->setTracksPrev(tracks_init);
// print a bar with the number of active tracks in incoming
std::string s(capture_image_incoming_->getKeyPoints().size(), '#');
WOLF_INFO("TRACKS: ", capture_image_incoming_->getKeyPoints().size(), " ", s);
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 );
......@@ -308,11 +304,6 @@ void ProcessorVisualOdometry::preProcess()
capture_image_incoming_->setTracksOrigin(tracks_origin_incoming);
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(capture_image_incoming_->getKeyPoints().size(), '#');
WOLF_INFO("TRACKS: ", capture_image_incoming_->getKeyPoints().size(), " ", s);
WOLF_DEBUG( "dt_preprocess (ms): " , dt_preprocess );
return;
......@@ -531,6 +522,16 @@ void ProcessorVisualOdometry::postProcess()
++track_it;
}
// print a bar with the number of active tracks in incoming
unsigned int n = capture_image_incoming_->getKeyPoints().size();
std::string s(n/2, '#');
WOLF_INFO("TRACKS: ", n, " ", s);
n = getProblem()->getMap()->getLandmarkList().size();
s = std::string(n/2, '-');
WOLF_INFO("LMARKS: ", n, " ", s);
}
bool ProcessorVisualOdometry::voteForKeyFrame() const
......
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