From f1724ced5a6425a2c1af40f825dd3992ac2c24ad Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Tue, 27 Feb 2018 15:04:46 +0100
Subject: [PATCH] Improve debug info
---
src/frame_base.cpp | 10 ++++++----
src/problem.cpp | 3 ++-
src/processor_tracker.cpp | 2 +-
src/processor_tracker_feature.cpp | 6 ++++++
4 files changed, 15 insertions(+), 6 deletions(-)
diff --git a/src/frame_base.cpp b/src/frame_base.cpp
index 280c68c17..6e36fcc40 100644
--- a/src/frame_base.cpp
+++ b/src/frame_base.cpp
@@ -26,11 +26,11 @@ FrameBase::FrameBase(const TimeStamp& _ts, StateBlockPtr _p_ptr, StateBlockPtr _
if ( isKey() )
{
- WOLF_INFO("constructed +KF", this->id() );
+ WOLF_DEBUG("New KF", this->id() );
}
else
{
- WOLF_INFO("constructed + F", this->id() );
+ WOLF_DEBUG("New F", this->id() );
}
}
@@ -49,11 +49,11 @@ FrameBase::FrameBase(const FrameType & _tp, const TimeStamp& _ts, StateBlockPtr
if ( isKey() )
{
- WOLF_INFO("constructed +KF", this->id() );
+ WOLF_DEBUG("New KF", this->id() );
}
else
{
- WOLF_INFO("constructed + F", this->id() );
+ WOLF_DEBUG("New F", this->id() );
}
}
@@ -132,6 +132,8 @@ void FrameBase::setKey()
getTrajectoryPtr()->setLastKeyFramePtr(shared_from_this());
getTrajectoryPtr()->sortFrame(shared_from_this());
+
+ WOLF_DEBUG("Set KF", this->id());
}
}
diff --git a/src/problem.cpp b/src/problem.cpp
index 92f7b0e0d..5144a6234 100644
--- a/src/problem.cpp
+++ b/src/problem.cpp
@@ -330,7 +330,8 @@ bool Problem::permitKeyFrame(ProcessorBasePtr _processor_ptr)
void Problem::keyFrameCallback(FrameBasePtr _keyframe_ptr, ProcessorBasePtr _processor_ptr, const Scalar& _time_tolerance)
{
- //std::cout << "Problem::keyFrameCallback: processor " << _processor_ptr->getName() << std::endl;
+ WOLF_DEBUG((_processor_ptr->isMotion() ? "PM " : "PT "), _processor_ptr->getName(), ": KF", _keyframe_ptr->id(), " Callback emitted with ts = ", _keyframe_ptr->getTimeStamp());
+
for (auto sensor : hardware_ptr_->getSensorList())
for (auto processor : sensor->getProcessorList())
if (processor && (processor != _processor_ptr) )
diff --git a/src/processor_tracker.cpp b/src/processor_tracker.cpp
index a6e242a6c..5f8492036 100644
--- a/src/processor_tracker.cpp
+++ b/src/processor_tracker.cpp
@@ -53,7 +53,7 @@ void ProcessorTracker::process(CaptureBasePtr const _incoming_ptr)
KFPackPtr pack = selectPack( incoming_ptr_);
kf_pack_buffer_.removeUpTo( incoming_ptr_->getTimeStamp() );
- WOLF_DEBUG( "PT: KF" , pack->key_frame->id() , " callback received at ts= " , pack->key_frame->getTimeStamp().get() );
+ WOLF_DEBUG( "PT: KF" , pack->key_frame->id() , " callback received with ts= " , pack->key_frame->getTimeStamp().get() );
// Append incoming to KF
pack->key_frame->addCapture(incoming_ptr_);
diff --git a/src/processor_tracker_feature.cpp b/src/processor_tracker_feature.cpp
index 2b5ff2126..faef28de8 100644
--- a/src/processor_tracker_feature.cpp
+++ b/src/processor_tracker_feature.cpp
@@ -151,6 +151,12 @@ void ProcessorTrackerFeature::establishConstraints()
match.first->addConstraint(ctr);
match.second->feature_ptr_->addConstrainedBy(ctr);
}
+ for (auto match : matches_origin_from_last_)
+ {
+ WOLF_DEBUG( "Constraint: track: " , match.second->feature_ptr_->trackId() ,
+ " origin: " , match.second->feature_ptr_->id() ,
+ " from last: " , match.first->id() );
+ }
}
} // namespace wolf
--
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