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 -- GitLab