From ad692447af6e0747efc03c7009442cebc2b93d38 Mon Sep 17 00:00:00 2001
From: Samuel Felton <samuel.felton@irisa.fr>
Date: Fri, 24 Nov 2023 17:17:07 +0100
Subject: [PATCH] Remove timing print in MBT data conversion

---
 modules/python/bindings/include/mbt.hpp       | 3 ---
 modules/python/examples/synthetic_data_mbt.py | 7 +++----
 2 files changed, 3 insertions(+), 7 deletions(-)

diff --git a/modules/python/bindings/include/mbt.hpp b/modules/python/bindings/include/mbt.hpp
index b3cd321b4a..311d56252c 100644
--- a/modules/python/bindings/include/mbt.hpp
+++ b/modules/python/bindings/include/mbt.hpp
@@ -14,7 +14,6 @@ void bindings_vpMbGenericTracker(py::class_<vpMbGenericTracker, vpMbTracker> &py
                                      std::map<std::string, py::array_t<double, py::array::c_style>> &mapOfPointClouds) {
     std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
     std::map<std::string, vpMatrix> mapOfVectors;
-    double t = vpTime::measureTimeMs();
     for (const auto &point_cloud_pair: mapOfPointClouds) {
 
       py::buffer_info buffer = point_cloud_pair.second.request();
@@ -36,8 +35,6 @@ void bindings_vpMbGenericTracker(py::class_<vpMbGenericTracker, vpMbTracker> &py
     for (const auto &p: mapOfVectors) {
       mapOfVectorPtrs[p.first] = &(p.second);
     }
-    double tt = vpTime::measureTimeMs();
-    std::cout << (tt - t) << std::endl;
     self.track(mapOfImages, mapOfVectorPtrs, mapOfWidths, mapOfHeights);
 
 
diff --git a/modules/python/examples/synthetic_data_mbt.py b/modules/python/examples/synthetic_data_mbt.py
index 367a070d9b..d140b79d89 100644
--- a/modules/python/examples/synthetic_data_mbt.py
+++ b/modules/python/examples/synthetic_data_mbt.py
@@ -96,15 +96,14 @@ def read_data(exp_config: MBTConfig, cam_depth: CameraParameters | None, I: Imag
         print('Could not successfully read the depth image')
         return
       t = time.time()
-      point_cloud = np.empty((*I_depth_np.shape, 3), dtype=np.float64)
+      # point_cloud = np.empty((*I_depth_np.shape, 3), dtype=np.float64)
       Z = I_depth_np.copy()
       Z[Z > 2] = 0.0 # Clamping values that are too high
 
       vs, us = np.meshgrid(range(I_depth_np.shape[0]), range(I_depth_np.shape[1]), indexing='ij')
       xs, ys = PixelMeterConversion.convertPoints(cam_depth, us, vs)
-      point_cloud[..., 0] = xs * Z
-      point_cloud[..., 1] = ys * Z
-      point_cloud[..., 2] = Z
+      point_cloud = np.stack((xs * Z, ys * Z, Z), axis=-1)
+
       print(f'\tPoint_cloud took {(time.time() - t) * 1000}ms')