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Added/Removed some debug info

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This commit is contained in:
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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9
corelib/src/rtflann/algorithms/kdtree_index.h
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@@ -47,7 +47,6 @@
#include "rtflann/util/allocator.h"
#include "rtflann/util/random.h"
#include "rtflann/util/saving.h"
#include "rtabmap/utilite/ULogger.h"
namespace rtflann
@@ -142,7 +141,7 @@ public:
void addPoints(const Matrix<ElementType>& points, float rebuild_threshold = 2)
{
UASSERT(points.cols==veclen_);
assert(points.cols==veclen_);
size_t old_size = size_;
extendDataset(points);
@@ -151,7 +150,6 @@ public:
buildIndex();
}
else {
UDEBUG("Add to trees (%d)", trees_);
for (size_t i=old_size;i<size_;++i) {
for (int j = 0; j < trees_; j++) {
addPointToTree(tree_roots_[j], i);
@@ -254,13 +252,12 @@ protected:
*/
void buildIndexImpl()
{
UDEBUG("");
// Create a permutable array of indices to the input vectors.
std::vector<int> ind(size_);
for (size_t i = 0; i < size_; ++i) {
ind[i] = int(i);
}
UDEBUG("");
mean_ = new DistanceType[veclen_];
var_ = new DistanceType[veclen_];
@@ -271,10 +268,8 @@ protected:
std::random_shuffle(ind.begin(), ind.end());
tree_roots_[i] = divideTree(&ind[0], int(size_) );
}
UDEBUG("");
delete[] mean_;
delete[] var_;
UDEBUG("");
}
void freeIndex()

10
corelib/src/rtflann/algorithms/nn_index.h
View File

@@ -39,7 +39,6 @@
#include "rtflann/util/result_set.h"
#include "rtflann/util/dynamic_bitset.h"
#include "rtflann/util/saving.h"
#include "rtabmap/utilite/ULogger.h"
namespace rtflann
{
@@ -125,15 +124,12 @@ public:
*/
virtual void buildIndex()
{
UDEBUG("");
freeIndex();
UDEBUG("");
cleanRemovedPoints();
UDEBUG("");
// building index
buildIndexImpl();
UDEBUG("");
size_at_build_ = size_;
}
@@ -144,9 +140,7 @@ public:
*/
virtual void buildIndex(const Matrix<ElementType>& dataset)
{
UDEBUG("");
setDataset(dataset);
UDEBUG("");
this->buildIndex();
}
@@ -769,7 +763,6 @@ protected:
void extendDataset(const Matrix<ElementType>& new_points)
{
size_t new_size = size_ + new_points.rows;
UDEBUG("size=%d, new_size=%d, removed_=%d", size_, new_size, removed_?1:0);
if (removed_) {
removed_points_.resize(new_size);
ids_.resize(new_size);
@@ -783,7 +776,6 @@ protected:
}
}
size_ = new_size;
UDEBUG("last_id_=%d", last_id_);
}