Merge pull request AustinDeric#21 from mpowelson/feature/misc_enhancements

Disable print statements that spam the terminal

Author: schornakj

yak/src/kfusion/kinfu.cpp

@@ -281,7 +281,8 @@ bool kfusion::KinFu::operator()(const Affine3f& inputCameraMotion,
   float rnorm = (float)cv::norm(cameraMotion.rvec());
   float tnorm = (float)cv::norm(cameraMotion.translation());
 
-  cout << "Rnorm " << rnorm << "  Tnorm " << tnorm << endl;
+  // TODO: Switch this to console_bridge. Disabling for now
+  // cout << "Rnorm " << rnorm << "  Tnorm " << tnorm << endl;
 
   bool integrate = (rnorm + tnorm) / 2 >= p.tsdf_min_camera_movement;
   if (integrate)

yak/src/kfusion/tsdf_volume.cpp

@@ -92,10 +92,10 @@ void kfusion::cuda::TsdfVolume::integrate(const Dists& dists, const Affine3f& ca
   // actual transform from the camera to the center of the volume What does this even do, exactly? As written it's
   // calculating the new transform from the frame of the volume to the frame of the camera after applying the motion of
   // the most recent measurement.
-  std::cout << "CAMERA MOTION TFORM:\n" << camera_motion_tform.inv().matrix << "\n";
+//  std::cout << "CAMERA MOTION TFORM:\n" << camera_motion_tform.inv().matrix << "\n";
   //    std::cout << "POSE_\n" << pose_.matrix << "\n";
   Affine3f vol2cam = camera_motion_tform.inv() * pose_;
-  std::cout << "vol2cam:\n" << vol2cam.matrix << "\n";
+//  std::cout << "vol2cam:\n" << vol2cam.matrix << "\n";
   device::Projector proj(intr.fx, intr.fy, intr.cx, intr.cy);
   //    printf("Intr: %f %f %f %f\n", intr.fx, intr.fy, intr.cx, intr.cy);
 

yak/src/yak_server.cpp

@@ -17,7 +17,7 @@ bool yak::FusionServer::fuse(const cv::Mat& depth_data, const Eigen::Affine3f& w
   // we want volume to camera
   const Eigen::Affine3f current_camera_in_volume = volume_to_world_ * world_to_camera;
 
-  std::cout << "Offline camera pose:\n" << current_camera_in_volume.matrix() << "\n";
+  // std::cout << "Offline camera pose:\n" << current_camera_in_volume.matrix() << "\n";
 
   // Compute the 'motion' from the last_pose to the current pose
   Eigen::Affine3f motion = current_camera_in_volume * last_camera_pose_.inverse();