debug info

src/processor/processor_visual_odometry.cpp

@@ -98,7 +98,7 @@ void ProcessorVisualOdometry::preProcess()
         capture_image_incoming_->setTracksPrev(tracks_init);
 
         auto dt_preprocess = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
-        std::cout << "dt_preprocess (ms): " << dt_preprocess << std::endl;
+        WOLF_TRACE( "dt_preprocess (ms): " , dt_preprocess );
 
         return;
     }
@@ -165,13 +165,13 @@ void ProcessorVisualOdometry::preProcess()
     WOLF_TRACE("# of tracks: ", n_tracks_origin, "; min # of tracks: ", params_visual_odometry_->min_features_for_keyframe);
     if (n_tracks_origin < params_visual_odometry_->min_features_for_keyframe){
 
-        WOLF_TRACE( "Too Few Tracks" );
+        WOLF_TRACE( "Too Few Tracks. Detecting more keypoints..." );
 
         // Detect new KeyPoints 
         std::vector<cv::KeyPoint> kps_last_new;
         detector_->detect(img_last, kps_last_new);
         cv::KeyPointsFilter::retainBest(kps_last_new, params_visual_odometry_->max_new_features);
-        WOLF_TRACE("Detected ", kps_last_new.size(), " new raw keypoints");
+        WOLF_TRACE("Detected ", kps_last_new.size(), " raw keypoints");
         
         // Create a map of wolf KeyPoints to track only the new ones
         KeyPointsMap mwkps_last_new, mwkps_incoming_new;
@@ -179,7 +179,7 @@ void ProcessorVisualOdometry::preProcess()
             WKeyPoint wkp(cvkp);
             mwkps_last_new[wkp.getId()] = wkp;
         }
-        WOLF_TRACE("Found ", mwkps_last_new.size(), " new keypoints");
+        WOLF_TRACE("Found ", mwkps_last_new.size(), " new keypoints in last");
 
         TracksMap tracks_last_incoming_new = kltTrack(img_last, img_incoming, mwkps_last_new, mwkps_incoming_new);
 
@@ -187,7 +187,7 @@ void ProcessorVisualOdometry::preProcess()
         // tracks that are not geometrically consistent are removed from tracks_last_incoming_new 
         cv::Mat E;
         filterWithEssential(mwkps_last_new, mwkps_incoming_new, tracks_last_incoming_new, E);
-        WOLF_TRACE("Tracked ", mwkps_incoming_new.size(), " new keypoints");
+        WOLF_TRACE("Tracked ", mwkps_incoming_new.size(), " new keypoints to incoming");
 
         // Concatenation of old tracks and new tracks
         // Only keep tracks until it reaches a max nb of tracks
@@ -201,7 +201,7 @@ void ProcessorVisualOdometry::preProcess()
             tracks_last_incoming_filtered[track.first] = track.second;
             count_new_tracks++;
         }
-        WOLF_TRACE("New total : ", tracks_last_incoming_filtered.size(), " tracks");
+        WOLF_TRACE("New total : ", n_tracks_origin, " + ", mwkps_incoming_new.size(), " = ", tracks_last_incoming_filtered.size(), " tracks");
 
         // Update captures
         capture_image_last_->addKeyPoints(mwkps_last_new);
@@ -214,7 +214,7 @@ void ProcessorVisualOdometry::preProcess()
     }
 
     auto dt_preprocess = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
-    WOLF_INFO( "dt_preprocess (ms): " , dt_preprocess );
+    WOLF_TRACE( "dt_preprocess (ms): " , dt_preprocess );
 
 }
 
@@ -253,7 +253,7 @@ unsigned int ProcessorVisualOdometry::processKnown()
         }
     }
     auto dt_processKnown = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
-    std::cout << "dt_processKnown (ms): " << dt_processKnown << std::endl;
+    WOLF_TRACE( "dt_processKnown (ms): " , dt_processKnown );
 
     // return number of successful tracks until incoming
     return tracks_map_li_matched_.size();
@@ -293,7 +293,7 @@ unsigned int ProcessorVisualOdometry::processNew(const int& _max_features)
     }
 
     auto dt_processNew = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - t1).count();
-    std::cout << "dt_processNew (ms): " << dt_processNew << std::endl;
+    WOLF_TRACE( "dt_processNew (ms): " , dt_processNew );
 
     return counter_new_tracks;
 }