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added Rtabmap/StatisticLoggedHeaders to avoid headers in log files

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1869 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-16 18:35:00 +00:00
parent fcd3301665
commit 85526ec106
3 changed files with 8 additions and 6 deletions
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1
corelib/include/rtabmap/core/Parameters.h
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@@ -143,6 +143,7 @@ class RTABMAP_EXP Parameters
RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2, "Maximum locations retrieved at the same time from LTM.");
RTABMAP_PARAM(Rtabmap, StatisticLogsBufferedInRAM, bool, true, "Statistic logs buffered in RAM instead of written to hard drive after each iteration.");
RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, false, "Logging enabled.");
RTABMAP_PARAM(Rtabmap, StatisticLoggedHeaders, bool, true, "Add column header description to log files.");
RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.")
// Hypotheses selection

1
corelib/include/rtabmap/core/Rtabmap.h
View File

@@ -153,6 +153,7 @@ private:
unsigned int _maxRetrieved;
bool _statisticLogsBufferedInRAM;
bool _statisticLogged;
bool _statisticLoggedHeaders;
bool _rgbdSlamMode;
float _rgbdLinearUpdate;
float _rgbdAngularUpdate;

12
corelib/src/Rtabmap.cpp
View File

@@ -85,6 +85,7 @@ Rtabmap::Rtabmap() :
_maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()),
_statisticLogsBufferedInRAM(Parameters::defaultRtabmapStatisticLogsBufferedInRAM()),
_statisticLogged(Parameters::defaultRtabmapStatisticLogged()),
_statisticLoggedHeaders(Parameters::defaultRtabmapStatisticLoggedHeaders()),
_rgbdSlamMode(Parameters::defaultRGBDEnabled()),
_rgbdLinearUpdate(Parameters::defaultRGBDLinearUpdate()),
_rgbdAngularUpdate(Parameters::defaultRGBDAngularUpdate()),
@@ -169,7 +170,7 @@ void Rtabmap::setupLogFiles(bool overwrite)
_foutInt = fopen((_wDir+LOG_I).c_str(), attributes.c_str());
#endif
// add header (column identification)
if(addLogFHeader && _foutFloat)
if(_statisticLoggedHeaders && addLogFHeader && _foutFloat)
{
fprintf(_foutFloat, "Column headers:\n");
fprintf(_foutFloat, " 1-Total iteration time (s)\n");
@@ -193,7 +194,7 @@ void Rtabmap::setupLogFiles(bool overwrite)
fprintf(_foutFloat, " 19-Retrieval database access time (s)\n");
fprintf(_foutFloat, " 20-Add loop closure link time (s)\n");
}
if(addLogIHeader && _foutInt)
if(_statisticLoggedHeaders && addLogIHeader && _foutInt)
{
fprintf(_foutInt, "Column headers:\n");
fprintf(_foutInt, " 1-Loop closure ID\n");
@@ -260,10 +261,8 @@ void Rtabmap::init(const ParametersMap & parameters, bool deleteMemory)
{
this->setDatabasePath(iter->second.c_str());
}
if((iter=parameters.find(Parameters::kRtabmapStatisticLogged())) != parameters.end())
{
_statisticLogged = uStr2Bool(iter->second.c_str());
}
Parameters::parse(parameters, Parameters::kRtabmapStatisticLogged(), _statisticLogged);
Parameters::parse(parameters, Parameters::kRtabmapStatisticLoggedHeaders(), _statisticLoggedHeaders);
this->resetMemory(true);
}
@@ -342,6 +341,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRtabmapMaxRetrieved(), _maxRetrieved);
Parameters::parse(parameters, Parameters::kRtabmapStatisticLogsBufferedInRAM(), _statisticLogsBufferedInRAM);
Parameters::parse(parameters, Parameters::kRtabmapStatisticLogged(), _statisticLogged);
Parameters::parse(parameters, Parameters::kRtabmapStatisticLoggedHeaders(), _statisticLoggedHeaders);
Parameters::parse(parameters, Parameters::kRGBDEnabled(), _rgbdSlamMode);
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rgbdLinearUpdate);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rgbdAngularUpdate);