diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp index cf33dbcdf2ab2741f76db8921c08a5d5db441023..3b67b084ddae8df69728f2e8ecaa84fa90c94952 100644 --- a/src/processor/processor_visual_odometry.cpp +++ b/src/processor/processor_visual_odometry.cpp @@ -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