Kfpackmanager

Re-design of the keyframe callback strategies for ProcessorTracker and ProcessorMotion ...

Now keyFrameCallback() receives a KF and creates a pack with it. Then process() is opening the pack and processing accordingly

src/processor_tracker_feature_dummy.cpp

@@ -17,6 +17,8 @@ unsigned int ProcessorTrackerFeatureDummy::trackFeatures(const FeatureBaseList&
 {
     std::cout << "tracking " << _feature_list_in.size() << " features..." << std::endl;
 
+    WOLF_TRACE("List sizes: in: ", _feature_list_in.size(), "; out: ", _feature_list_out.size(), "; correspondences: ", _feature_correspondences.size());
+
     // loosing the track of the first 2 features
     auto features_lost = 0;
     for (auto feat_in_ptr : _feature_list_in)
@@ -30,7 +32,7 @@ unsigned int ProcessorTrackerFeatureDummy::trackFeatures(const FeatureBaseList&
         {
             _feature_list_out.push_back(std::make_shared<FeatureBase>("POINT IMAGE", feat_in_ptr->getMeasurement(), feat_in_ptr->getMeasurementCovariance()));
             _feature_correspondences[_feature_list_out.back()] = std::make_shared<FeatureMatch>(FeatureMatch({feat_in_ptr,0}));
-            std::cout << "feature " << feat_in_ptr->id() << " tracked!" << std::endl;
+            std::cout << "feature " << feat_in_ptr->id() << " tracked to feature " << _feature_list_out.back()->id() << " !" << std::endl;
         }
     }