From 5a628bbc9b6b09f317e1c749b642c927fcc3e788 Mon Sep 17 00:00:00 2001
From: Christian Forster <ch.forster@gmail.com>
Date: Mon, 28 Apr 2014 23:16:53 +0200
Subject: [PATCH] removed some debug output from depth filter

---
 svo/include/svo/depth_filter.h | 11 +++++++----
 svo/src/depth_filter.cpp       | 24 ++++--------------------
 2 files changed, 11 insertions(+), 24 deletions(-)

diff --git a/svo/include/svo/depth_filter.h b/svo/include/svo/depth_filter.h
index 4ad2e29..3e14212 100644
--- a/svo/include/svo/depth_filter.h
+++ b/svo/include/svo/depth_filter.h
@@ -83,8 +83,11 @@ public:
     {}
   } options_;
 
-  DepthFilter(feature_detection::DetectorPtr feature_detector, callback_t seed_converged_cb);
-  ~DepthFilter();
+  DepthFilter(
+      feature_detection::DetectorPtr feature_detector,
+      callback_t seed_converged_cb);
+
+  virtual ~DepthFilter();
 
   /// Start this thread when seed updating should be in a parallel thread.
   void startThread();
@@ -129,7 +132,7 @@ public:
       const double z,
       const double px_error_angle);
 
-private:
+protected:
   feature_detection::DetectorPtr feature_detector_;
   callback_t seed_converged_cb_;
   std::list<Seed, aligned_allocator<Seed> > seeds_;
@@ -149,7 +152,7 @@ private:
   void initializeSeeds(FramePtr frame);
 
   /// Update all seeds with a new measurement frame.
-  void updateSeeds(FramePtr frame);
+  virtual void updateSeeds(FramePtr frame);
 
   /// When a new keyframe arrives, the frame queue should be cleared.
   void clearFrameQueue();
diff --git a/svo/src/depth_filter.cpp b/svo/src/depth_filter.cpp
index 9278cca..c9e4789 100644
--- a/svo/src/depth_filter.cpp
+++ b/svo/src/depth_filter.cpp
@@ -118,18 +118,15 @@ void DepthFilter::initializeSeeds(FramePtr frame)
   feature_detector_->detect(frame.get(), frame->img_pyr_,
                             Config::triangMinCornerScore(), new_features);
 
+  // initialize a seed for every new feature
   seeds_updating_halt_ = true;
   lock_t lock(seeds_mut_); // by locking the updateSeeds function stops
   ++Seed::batch_counter;
-
-  // initialize a seed for every new feature
   std::for_each(new_features.begin(), new_features.end(), [&](Feature* ftr){
     seeds_.push_back(Seed(ftr, new_keyframe_mean_depth_, new_keyframe_min_depth_));
   });
 
-  if(options_.verbose)
-    SVO_INFO_STREAM("DepthFilter: Initialized "<<new_features.size()<<" new seeds");
-
+  SVO_DEBUG_STREAM("DepthFilter: Initialized "<<new_features.size()<<" new seeds");
   seeds_updating_halt_ = false;
 }
 
@@ -165,8 +162,7 @@ void DepthFilter::reset()
     frame_queue_.pop();
   seeds_updating_halt_ = false;
 
-  if(options_.verbose)
-    SVO_INFO_STREAM("DepthFilter: RESET.");
+  SVO_DEBUG_STREAM("DepthFilter: RESET.");
 }
 
 void DepthFilter::updateSeedsLoop()
@@ -228,8 +224,6 @@ void DepthFilter::updateSeeds(FramePtr frame)
     const Vector2d px(it->ftr->frame->f2c(xyz_f));
     if(!it->ftr->frame->cam_->isInFrame(px.cast<int>())) {
       ++it;
-      if(options_.verbose)
-    	SVO_DEBUG_STREAM("not visible");
       continue;
     }
 
@@ -241,8 +235,6 @@ void DepthFilter::updateSeeds(FramePtr frame)
         *it->ftr->frame, *frame, *it->ftr, 1.0/it->mu, 1.0/z_inv_min, 1.0/z_inv_max,
         options_.epi_search_1d, z, h_inv))
     {
-      if(options_.verbose)
-        SVO_INFO_STREAM("no match found");
       it->b++; // increase outlier probability when no match was found
       ++it;
       ++n_failed_matches;
@@ -253,13 +245,8 @@ void DepthFilter::updateSeeds(FramePtr frame)
     {
       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)
-      if(options_.verbose)
-    	SVO_DEBUG_STREAM("Photometric disparity error "<<px_noise<<" px");
     }
 
-    if(options_.verbose)
-      SVO_DEBUG_STREAM("updated seed");
-
     // compute tau
     double tau = computeTau(T_ref_cur, it->ftr->f, z, px_error_angle);
     double tau_inverse = 0.5 * (1.0/max(0.0000001, z-tau) - 1.0/(z+tau));
@@ -275,8 +262,6 @@ void DepthFilter::updateSeeds(FramePtr frame)
       {
         Vector3d xyz_world(it->ftr->frame->T_f_w_.inverse() * (it->ftr->f * (1.0/it->mu)));
         seed_converged_cb_(*it, xyz_world);
-        if(options_.verbose)
-          SVO_DEBUG_STREAM("seed converged");
       }
       it = seeds_.erase(it);
     }
@@ -290,8 +275,7 @@ void DepthFilter::updateSeeds(FramePtr frame)
   }
 }
 
-void DepthFilter::
-clearFrameQueue()
+void DepthFilter::clearFrameQueue()
 {
   while(!frame_queue_.empty())
     frame_queue_.pop();