From b09c97169a0d8c16ea70cfdbd23984750efb9153 Mon Sep 17 00:00:00 2001 From: matlabbe Date: Thu, 6 Oct 2016 21:31:21 -0400 Subject: [PATCH] clams: added some debug log on reading --- .../clams/discrete_depth_distortion_model.cpp | 21 ++++++++++++++++++- 1 file changed, 20 insertions(+), 1 deletion(-) diff --git a/corelib/src/clams/discrete_depth_distortion_model.cpp b/corelib/src/clams/discrete_depth_distortion_model.cpp index 0f04c341..b8c72fe2 100644 --- a/corelib/src/clams/discrete_depth_distortion_model.cpp +++ b/corelib/src/clams/discrete_depth_distortion_model.cpp @@ -117,6 +117,13 @@ namespace clams eigen_extensions::deserialize(in, &total_numerators_); eigen_extensions::deserialize(in, &total_denominators_); 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) @@ -171,6 +178,7 @@ namespace clams void DiscreteDepthDistortionModel::deleteFrustums() { + UDEBUG(""); for(size_t y = 0; y < frustums_.size(); ++y) for(size_t x = 0; x < frustums_[y].size(); ++x) if(frustums_[y][x]) @@ -300,8 +308,10 @@ namespace clams void DiscreteDepthDistortionModel::deserialize(std::istream& in) { + UDEBUG(""); string buf; getline(in, buf); + UDEBUG("buf=%s", buf.c_str()); assert(buf == "DiscreteDepthDistortionModel v01"); eigen_extensions::deserializeScalar(in, &width_); eigen_extensions::deserializeScalar(in, &height_); @@ -311,16 +321,25 @@ namespace clams eigen_extensions::deserializeScalar(in, &num_bins_x_); eigen_extensions::deserializeScalar(in, &num_bins_y_); 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(); frustums_.resize(num_bins_y_); for(size_t y = 0; y < frustums_.size(); ++y) { frustums_[y].resize(num_bins_x_, NULL); 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]->deserialize(in); } } + UDEBUG(""); } DiscreteFrustum& DiscreteDepthDistortionModel::frustum(int y, int x)