From 7dee1af5b4dec1ef1a558669e18e39d7ed638f5a Mon Sep 17 00:00:00 2001
From: senselessdev1 <johnlambert@hayoungs-mbp.lan>
Date: Wed, 12 Oct 2022 23:31:45 -0400
Subject: [PATCH] add verbose flag for logging messages during DSF track
 generation

---
 gtsam/sfm/DsfTrackGenerator.h                | 19 +++++++++++--------
 gtsam/sfm/sfm.i                              |  3 ++-
 python/gtsam/tests/test_DsfTrackGenerator.py |  4 +++-
 3 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/gtsam/sfm/DsfTrackGenerator.h b/gtsam/sfm/DsfTrackGenerator.h
index a16ed3522..960f1622c 100644
--- a/gtsam/sfm/DsfTrackGenerator.h
+++ b/gtsam/sfm/DsfTrackGenerator.h
@@ -143,10 +143,11 @@ class DsfTrackGenerator {
   // @param Length-N list of keypoints, for N images/cameras.
   std::vector<SfmTrack2d> generate_tracks_from_pairwise_matches(
     const MatchIndicesMap& matches_dict,
-    const KeypointsVector& keypoints_list) {
+    const KeypointsVector& keypoints_list,
+    bool verbose = false) {
     std::vector<SfmTrack2d> track_2d_list;
 
-    std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
+    if (verbose) std::cout << "[SfmTrack2d] Starting Union-Find..." << std::endl;
     // Generate the DSF to form tracks.
     DSFMapIndexPair dsf;
 
@@ -167,7 +168,7 @@ class DsfTrackGenerator {
       }
     }
 
-    std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
+    if (verbose) std::cout << "[SfmTrack2d] Union-Find Complete" << std::endl;
     const std::map<IndexPair, std::set<IndexPair> > key_sets = dsf.sets();
 
     // Return immediately if no sets were found.
@@ -202,12 +203,14 @@ class DsfTrackGenerator {
       }
     }
 
-    double erroneous_track_pct = static_cast<float>(erroneous_track_count)
-                                 / static_cast<float>(key_sets.size()) * 100;
-    // TODO(johnwlambert): restrict decimal places to 2 decimals.
-    std::cout << "DSF Union-Find: " << erroneous_track_pct;
-    std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
+    if (verbose) {
+      double erroneous_track_pct = static_cast<float>(erroneous_track_count)
+                                   / static_cast<float>(key_sets.size()) * 100;
 
+      // TODO(johnwlambert): restrict decimal places to 2 decimals.
+      std::cout << "DSF Union-Find: " << erroneous_track_pct;
+      std::cout << "% of tracks discarded from multiple obs. in a single image." << std::endl;
+    }
     // TODO(johnwlambert): return the Transitivity failure percentage here.
     return track_2d_list;
   }
diff --git a/gtsam/sfm/sfm.i b/gtsam/sfm/sfm.i
index 9613410a7..ce840a1a9 100644
--- a/gtsam/sfm/sfm.i
+++ b/gtsam/sfm/sfm.i
@@ -78,7 +78,8 @@ class DsfTrackGenerator {
   DsfTrackGenerator();
   const gtsam::SfmTrack2dVector generate_tracks_from_pairwise_matches(
     const gtsam::MatchIndicesMap& matches_dict,
-    const gtsam::KeypointsVector& keypoints_list);
+    const gtsam::KeypointsVector& keypoints_list,
+    bool verbose = false);
 };
 
 
diff --git a/python/gtsam/tests/test_DsfTrackGenerator.py b/python/gtsam/tests/test_DsfTrackGenerator.py
index 563a01165..721584cff 100644
--- a/python/gtsam/tests/test_DsfTrackGenerator.py
+++ b/python/gtsam/tests/test_DsfTrackGenerator.py
@@ -40,7 +40,9 @@ class TestDsfTrackGenerator(GtsamTestCase):
         matches_dict[IndexPair(0, 1)] = np.array([[0, 0], [1, 1]])
         matches_dict[IndexPair(1, 2)] = np.array([[2, 0], [1, 1]])
 
-        tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict, keypoints_list)
+        tracks = DsfTrackGenerator().generate_tracks_from_pairwise_matches(matches_dict,
+                                                                           keypoints_list,
+                                                                           verbose=True)
         assert len(tracks) == 3
 
         # Verify track 0.