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clams: added some debug log on reading

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matlabbe
2016-10-06 21:31:21 -04:00
parent 37192422be
commit b09c97169a
1 changed files with 20 additions and 1 deletions
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21
corelib/src/clams/discrete_depth_distortion_model.cpp
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@@ -117,6 +117,13 @@ namespace clams
eigen_extensions::deserialize(in, &total_numerators_); eigen_extensions::deserialize(in, &total_numerators_);
eigen_extensions::deserialize(in, &total_denominators_); eigen_extensions::deserialize(in, &total_denominators_);
eigen_extensions::deserialize(in, &multipliers_); eigen_extensions::deserialize(in, &multipliers_);
UDEBUG("Frustum: max_dist=%f", max_dist_);
UDEBUG("Frustum: num_bins=%d", num_bins_);
UDEBUG("Frustum: bin_depth=%f", bin_depth_);
UDEBUG("Frustum: counts=%d", counts_.rows());
UDEBUG("Frustum: total_numerators=%d", total_numerators_.rows());
UDEBUG("Frustum: total_denominators=%d", total_denominators_.rows());
UDEBUG("Frustum: multipliers=%d", multipliers_.rows());
} }
DiscreteDepthDistortionModel::DiscreteDepthDistortionModel(const DiscreteDepthDistortionModel& other) DiscreteDepthDistortionModel::DiscreteDepthDistortionModel(const DiscreteDepthDistortionModel& other)
@@ -171,6 +178,7 @@ namespace clams
void DiscreteDepthDistortionModel::deleteFrustums() void DiscreteDepthDistortionModel::deleteFrustums()
{ {
UDEBUG("");
for(size_t y = 0; y < frustums_.size(); ++y) for(size_t y = 0; y < frustums_.size(); ++y)
for(size_t x = 0; x < frustums_[y].size(); ++x) for(size_t x = 0; x < frustums_[y].size(); ++x)
if(frustums_[y][x]) if(frustums_[y][x])
@@ -300,8 +308,10 @@ namespace clams
void DiscreteDepthDistortionModel::deserialize(std::istream& in) void DiscreteDepthDistortionModel::deserialize(std::istream& in)
{ {
UDEBUG("");
string buf; string buf;
getline(in, buf); getline(in, buf);
UDEBUG("buf=%s", buf.c_str());
assert(buf == "DiscreteDepthDistortionModel v01"); assert(buf == "DiscreteDepthDistortionModel v01");
eigen_extensions::deserializeScalar(in, &width_); eigen_extensions::deserializeScalar(in, &width_);
eigen_extensions::deserializeScalar(in, &height_); eigen_extensions::deserializeScalar(in, &height_);
@@ -311,16 +321,25 @@ namespace clams
eigen_extensions::deserializeScalar(in, &num_bins_x_); eigen_extensions::deserializeScalar(in, &num_bins_x_);
eigen_extensions::deserializeScalar(in, &num_bins_y_); eigen_extensions::deserializeScalar(in, &num_bins_y_);
eigen_extensions::deserializeScalar(in, &training_samples_); eigen_extensions::deserializeScalar(in, &training_samples_);
UINFO("Distortion Model: width=%d", width_);
UINFO("Distortion Model: height=%d", height_);
UINFO("Distortion Model: bin_width=%d", bin_width_);
UINFO("Distortion Model: bin_height=%d", bin_height_);
UINFO("Distortion Model: bin_depth=%f", bin_depth_);
UINFO("Distortion Model: num_bins_x=%d", num_bins_x_);
UINFO("Distortion Model: num_bins_y=%d", num_bins_y_);
UINFO("Distortion Model: training_samples=%d", training_samples_);
deleteFrustums(); deleteFrustums();
frustums_.resize(num_bins_y_); frustums_.resize(num_bins_y_);
for(size_t y = 0; y < frustums_.size(); ++y) { for(size_t y = 0; y < frustums_.size(); ++y) {
frustums_[y].resize(num_bins_x_, NULL); frustums_[y].resize(num_bins_x_, NULL);
for(size_t x = 0; x < frustums_[y].size(); ++x) { for(size_t x = 0; x < frustums_[y].size(); ++x) {
UDEBUG("Distortion Model: Frustum[%d][%d]", y, x);
frustums_[y][x] = new DiscreteFrustum; frustums_[y][x] = new DiscreteFrustum;
frustums_[y][x]->deserialize(in); frustums_[y][x]->deserialize(in);
} }
} }
UDEBUG("");
} }
DiscreteFrustum& DiscreteDepthDistortionModel::frustum(int y, int x) DiscreteFrustum& DiscreteDepthDistortionModel::frustum(int y, int x)