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fixed OdometryViewer where clouds were not all removed or shown

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This commit is contained in:
Mathieu Labbe
2015-04-06 14:32:32 -04:00
parent 5b5a32839c
commit 39ef8c0f0a
5 changed files with 39 additions and 34 deletions
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11
corelib/src/Odometry.cpp
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@@ -562,14 +562,13 @@ Transform OdometryBOW::computeTransform(
info->localMapSize = (int)localMap_.size();
}
UINFO("Odom update time = %fs out=[%s] features=%d inliers=%d/%d variance=%f local_map=%d[%d] dict=%d nodes=%d",
UINFO("Odom update time = %fs lost=%s features=%d inliers=%d/%d variance=%f local_map=%d dict=%d nodes=%d",
timer.elapsed(),
output.prettyPrint().c_str(),
output.isNull()?"true":"false",
nFeatures,
inliers,
correspondences,
variance,
(int)uUniqueKeys(localMap_).size(),
(int)localMap_.size(),
(int)_memory->getVWDictionary()->getVisualWords().size(),
(int)_memory->getStMem().size());
@@ -1064,8 +1063,9 @@ Transform OdometryOpticalFlow::computeTransformStereo(
info->matches = correspondences;
}
UINFO("Odom update time = %fs inliers=%d/%d, new corners=%d, transform accepted=%s",
UINFO("Odom update time = %fs lost=%s inliers=%d/%d, new corners=%d, transform accepted=%s",
timer.elapsed(),
output.isNull()?"true":"false",
inliers,
correspondences,
(int)newCorners.size(),
@@ -1454,8 +1454,9 @@ Transform OdometryOpticalFlow::computeTransformRGBD(
info->matches = correspondences;
}
UINFO("Odom update time = %fs inliers=%d/%d, variance=%f, new corners=%d",
UINFO("Odom update time = %fs lost=%s inliers=%d/%d, variance=%f, new corners=%d",
timer.elapsed(),
output.isNull()?"true":"false",
inliers,
correspondences,
variance,