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Commit c7bc6aa4 authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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src/processor_motion.h
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......@@ -528,9 +528,9 @@ inline void ProcessorMotion::reintegrate(CaptureMotion2* _capture_ptr)
inline bool ProcessorMotion::keyFrameCallback(FrameBase* _keyframe_ptr, const Scalar& _time_tol)
{
assert(_keyframe_ptr->getTrajectoryPtr() != nullptr && "ProcessorMotion::keyFrameCallback: key frame must be in the trajectory.");
std::cout << "ProcessorMotion::keyFrameCallback: ts = " << _keyframe_ptr->getTimeStamp().getSeconds() << "." << _keyframe_ptr->getTimeStamp().getNanoSeconds() << std::endl;
std::cout << "\tnew keyframe " << _keyframe_ptr->id() << ": " << _keyframe_ptr->getState().transpose() << std::endl;
std::cout << "\torigin keyframe " << origin_ptr_->getFramePtr()->id() << std::endl;
//std::cout << "ProcessorMotion::keyFrameCallback: ts = " << _keyframe_ptr->getTimeStamp().getSeconds() << "." << _keyframe_ptr->getTimeStamp().getNanoSeconds() << std::endl;
//std::cout << "\tnew keyframe " << _keyframe_ptr->id() << ": " << _keyframe_ptr->getState().transpose() << std::endl;
//std::cout << "\torigin keyframe " << origin_ptr_->getFramePtr()->id() << std::endl;
// get time stamp
TimeStamp ts = _keyframe_ptr->getTimeStamp();
......
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