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changed output level of debug msgs

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This commit is contained in:
Christian Forster
2014-04-09 18:04:57 +02:00
parent bc4ad77fe5
commit 42a5535fdc
1 changed files with 4 additions and 4 deletions
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svo/src/depth_filter.cpp
+4 -4
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@@ -238,7 +238,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
if(!it->ftr->frame->cam_->isInFrame(px.cast<int>())) { if(!it->ftr->frame->cam_->isInFrame(px.cast<int>())) {
++it; ++it;
if(options_.verbose) if(options_.verbose)
SVO_INFO_STREAM("not visible"); SVO_DEBUG_STREAM("not visible");
continue; continue;
} }
@@ -263,11 +263,11 @@ void DepthFilter::updateSeeds(FramePtr frame)
px_noise = fmax(2.0*options_.sigma_i_sq*h_inv, 1.0); px_noise = fmax(2.0*options_.sigma_i_sq*h_inv, 1.0);
px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz) px_error_angle = atan(px_noise/(2.0*focal_length))*2.0; // law of chord (sehnensatz)
if(options_.verbose) if(options_.verbose)
SVO_INFO_STREAM("Photometric disparity error "<<px_noise<<" px"); SVO_DEBUG_STREAM("Photometric disparity error "<<px_noise<<" px");
} }
if(options_.verbose) if(options_.verbose)
SVO_INFO_STREAM("updated seed"); SVO_DEBUG_STREAM("updated seed");
// compute tau // compute tau
double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle); double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle);
@@ -285,7 +285,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu))); Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu)));
seed_converged_cb_(*it, xyz_world); seed_converged_cb_(*it, xyz_world);
if(options_.verbose) if(options_.verbose)
SVO_INFO_STREAM("seed converged"); SVO_DEBUG_STREAM("seed converged");
} }
it = seeds_.erase(it); it = seeds_.erase(it);
} }