debug GPU version

GPU_version/svo/include/gpu_svo/frame_handler_base.h

@@ -18,8 +18,8 @@
 #define SVO_FRAME_HANDLER_BASE_H_
 
 #include <queue>
-#include <vikit/timer.h>
-#include <vikit/ringbuffer.h>
+//#include <vikit/timer.h>
+//#include <vikit/ringbuffer.h>
 #include <boost/noncopyable.hpp>
 #include <boost/function.hpp>
 #include <boost/thread.hpp>
@@ -29,7 +29,7 @@
 namespace vk
 {
 class AbstractCamera;
-class PerformanceMonitor;
+//class PerformanceMonitor;
 }
 
 namespace svo
@@ -80,19 +80,19 @@ public:
   TrackingQuality trackingQuality() const { return tracking_quality_; }
 
   /// Get the processing time of the previous iteration.
-  double lastProcessingTime() const { return timer_.getTime(); }
+  //double lastProcessingTime() const { return timer_.getTime(); }
 
   /// Get the number of feature observations of the last frame.
-  size_t lastNumObservations() const { return num_obs_last_; }
+ // size_t lastNumObservations() const { return num_obs_last_; }
 
 protected:
   Stage stage_;                 //!< Current stage of the algorithm.
   bool set_reset_;              //!< Flag that the user can set. Will reset the system before the next iteration.
   bool set_start_;              //!< Flag the user can set to start the system when the next image is received.
   Map map_;                     //!< Map of keyframes created by the slam system.
-  vk::Timer timer_;             //!< Stopwatch to measure time to process frame.
-  vk::RingBuffer<double> acc_frame_timings_;    //!< Total processing time of the last 10 frames, used to give some user feedback on the performance.
-  vk::RingBuffer<size_t> acc_num_obs_;          //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance.
+  //vk::Timer timer_;             //!< Stopwatch to measure time to process frame.
+  //vk::RingBuffer<double> acc_frame_timings_;    //!< Total processing time of the last 10 frames, used to give some user feedback on the performance.
+  //vk::RingBuffer<size_t> acc_num_obs_;          //!< Number of observed features of the last 10 frames, used to give some user feedback on the tracking performance.
   size_t num_obs_last_;                         //!< Number of observations in the previous frame.
   TrackingQuality tracking_quality_;            //!< An estimate of the tracking quality based on the number of tracked features.