Added/Removed some debug info

corelib/src/Memory.cpp

@@ -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;

corelib/src/rtflann/algorithms/kdtree_index.h

@@ -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()

corelib/src/rtflann/algorithms/nn_index.h

@@ -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_);
     }