From f83bf8b729561328173d3556998ebbedac64994a Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 24 Apr 2022 23:41:10 +0200
Subject: [PATCH] Move printing bars to postProcesss() and add a bar foe # of
 landmarks

---
 src/processor/processor_visual_odometry.cpp | 19 ++++++++++---------
 1 file changed, 10 insertions(+), 9 deletions(-)

diff --git a/src/processor/processor_visual_odometry.cpp b/src/processor/processor_visual_odometry.cpp
index cf33dbcdf..3b67b084d 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
-- 
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