MAINT: make logging terser.

oddkiva · May 20, 2024 · d448784 · d448784
1 parent 79dfa60
commit d448784
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Showing 2 changed files with 3 additions and 5 deletions.
diff --git a/cpp/src/DO/Sara/SfM/BuildingBlocks/PointCloudGenerator.cpp b/cpp/src/DO/Sara/SfM/BuildingBlocks/PointCloudGenerator.cpp
@@ -397,10 +397,10 @@ auto PointCloudGenerator::grow_point_cloud(
     ++scene_point_index;
   }
 
-  SARA_LOGD(logger, "Check vertex -> scene point index");
+  SARA_LOGT(logger, "Check mapping: vertex -> scene point index");
   for (const auto& [v, i] : _from_vertex_to_scene_point_index)
   {
-    SARA_LOGD(logger, "v:{} -> i:{}", v, i);
+    SARA_LOGT(logger, "v:{} -> i:{}", v, i);
     if (i >= _point_cloud.size())
       throw std::runtime_error{fmt::format(
           "Error: scene point index {} is out of the range: [{}, {}[",  //
@@ -455,8 +455,6 @@ auto PointCloudGenerator::write_point_cloud(
     const Eigen::Vector3d p = _point_cloud[pi].coords();
     out << fmt::format("{},{},{},{},{}\n", i, pi, p.x(), p.y(), p.z());
 
-    // fmt::print("{},{},{},{},{}\n", i, pi, p.x(), p.y(), p.z());
-
     ++i;
   }
 }
diff --git a/cpp/src/DO/Sara/SfM/Odometry/OdometryPipeline.cpp b/cpp/src/DO/Sara/SfM/Odometry/OdometryPipeline.cpp
@@ -338,7 +338,7 @@ auto OdometryPipeline::grow_geometry() -> bool
              _tracks_alive_without_scene_point) =
         _point_cloud_generator->split_by_scene_point_knowledge(_tracks_alive);
 
-#define USE_ABSOLUTE_ROTATION
+// #define USE_ABSOLUTE_ROTATION
 #if defined(USE_ABSOLUTE_ROTATION)
     const auto [abs_pose_mat, abs_pose_est_successful] =
         _abs_pose_estimator.estimate_pose(