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Added/Removed some debug info

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matlabbe
2015-10-14 14:40:18 -04:00
parent c18b3842b9
commit b8382fe5bd
3 changed files with 11 additions and 16 deletions
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corelib/src/Memory.cpp
+8
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@@ -3903,6 +3903,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
if(_parallelized)
{
UDEBUG("Start dictionary update thread");
preUpdateThread.start();
}
@@ -3916,12 +3917,14 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
// convert to grayscale
if(data.imageRaw().channels() > 1)
{
UDEBUG("convert to grayscale...");
cv::cvtColor(data.imageRaw(), imageMono, cv::COLOR_BGR2GRAY);
}
else
{
imageMono = data.imageRaw();
}
UDEBUG("Set ROI...");
cv::Rect roi = Feature2D::computeRoi(imageMono, _roiRatios);
if(!data.depthOrRightRaw().empty() && data.stereoCameraModel().isValid())
@@ -3933,6 +3936,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
{
subPixelOn = true;
}
UDEBUG("Generating keypoints...");
keypoints = _feature2D->generateKeypoints(imageMono, roi);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_detection(), t*1000.0f);
@@ -4019,6 +4023,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
{
subPixelOn = true;
}
UDEBUG("Generating keypoints...");
keypoints = _feature2D->generateKeypoints(imageMono, roi);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_detection(), t*1000.0f);
@@ -4080,6 +4085,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
else
{
//RGB only
UDEBUG("Generating keypoints...");
keypoints = _feature2D->generateKeypoints(imageMono, roi);
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_detection(), t*1000.0f);
@@ -4199,7 +4205,9 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
if(_parallelized)
{
UDEBUG("Joining dictionary update thread...");
preUpdateThread.join(); // Wait the dictionary to be updated
UDEBUG("Joining dictionary update thread... thread finished!");
}
std::list<int> wordIds;