From 9331b0f5533cd7bc7f0e5ccfc82064a272f5222a Mon Sep 17 00:00:00 2001
From: gfuse <majidgeravand68@gmail.com>
Date: Wed, 18 Aug 2021 16:48:34 +0200
Subject: [PATCH] log the supported extention

---
 GPU_version/vio/src/cl_class.cpp           | 3 ++-
 GPU_version/vio/src/frame_handler_mono.cpp | 8 ++++----
 2 files changed, 6 insertions(+), 5 deletions(-)

diff --git a/GPU_version/vio/src/cl_class.cpp b/GPU_version/vio/src/cl_class.cpp
index 46cb4bd..55908c5 100644
--- a/GPU_version/vio/src/cl_class.cpp
+++ b/GPU_version/vio/src/cl_class.cpp
@@ -26,7 +26,8 @@ opencl::opencl(vk::AbstractCamera* cam):cam(cam) {
               << "CL_DEVICE_BUILT_IN_KERNELS: " <<device->getInfo<CL_DEVICE_BUILT_IN_KERNELS>()<<'\n'
               << "CL_DEVICE_COMPILER_AVAILABLE: " <<device->getInfo<CL_DEVICE_COMPILER_AVAILABLE>()<<'\n'
               << "CL_DEVICE_LOCAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_LOCAL_MEM_SIZE>()<<'\n'
-              << "CL_DEVICE_GLOBAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_GLOBAL_MEM_SIZE>()<<'\n';
+              << "CL_DEVICE_GLOBAL_MEM_SIZE: " <<device->getInfo<CL_DEVICE_GLOBAL_MEM_SIZE>()<<'\n'
+              << "CL_DEVICE_EXTENSIONS: " <<device->getInfo<CL_DEVICE_EXTENSIONS>()<<'\n';
     context=new cl::Context({ *device });
     cl::Program::Sources sources;
     read_cl fast(std::string(KERNEL_DIR)+"/fast-gray.cl");
diff --git a/GPU_version/vio/src/frame_handler_mono.cpp b/GPU_version/vio/src/frame_handler_mono.cpp
index a9d6d8d..7318a1a 100644
--- a/GPU_version/vio/src/frame_handler_mono.cpp
+++ b/GPU_version/vio/src/frame_handler_mono.cpp
@@ -164,12 +164,11 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
   if(img_align.run(last_frame_, new_frame_)==0)return  RESULT_FAILURE;
   //assert (false);
   reprojector_.reprojectMap(new_frame_, overlap_kfs_);
-
+  /*
   std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second
              <<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_
              <<"\t distance between two frames: "<<
-             (last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n';
-
+             (last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n';*/
   size_t sfba_n_edges_final=0;
   double sfba_thresh, sfba_error_init, sfba_error_final;
   pose_optimizer::optimizeGaussNewton(
@@ -185,11 +184,12 @@ FrameHandlerBase::UpdateResult FrameHandlerMono::processFrame()
                                 new_frame_->T_f_w_.se2().translation()(1),new_frame_->T_f_w_.pitch(),sfba_n_edges_final,time_);
   new_frame_->T_f_w_ =result.second;
   new_frame_->Cov_ = result.first;
+  /*
   std::cout<<"Reprojection Map nPoint: "<<overlap_kfs_.back().second
   <<"\tnCell: "<<reprojector_.n_trials_<<"\t nMatches: "<<reprojector_.n_matches_
   <<"\tReprojected points after opmization: "<<sfba_n_edges_final<<"\t distance between two frames: "<<
   (last_frame_->T_f_w_.se2().translation()-new_frame_->T_f_w_.se2().translation()).norm()<<'\n';
-
+*/
   optimizeStructure(new_frame_, Config::structureOptimMaxPts(), Config::structureOptimNumIter());
   // select keyframe
   core_kfs_.insert(new_frame_);