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Added statistics for incremental flann index size

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This commit is contained in:
matlabbe
2015-09-09 12:08:51 -04:00
parent 3be4b9a3f5
commit beab2271f0
5 changed files with 93 additions and 19 deletions
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16
tools/ConsoleApp/main.cpp
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@@ -65,6 +65,7 @@ void showUsage()
" -warn Set Log level to Warning (Default Error)\n"
" -exit_warn Set exit level to Warning (Default Fatal)\n"
" -exit_error Set exit level to Error (Default Fatal)\n"
" -log_console Log to console\n"
" -v Get version of RTAB-Map\n"
" -input \"path\" Load previous database if it exists.\n");
exit(1);
@@ -118,6 +119,7 @@ int main(int argc, char * argv[])
ParametersMap pm;
ULogger::Level logLevel = ULogger::kError;
ULogger::Level exitLevel = ULogger::kFatal;
bool logConsole = false;
for(int i=1; i<argc; ++i)
{
@@ -248,6 +250,11 @@ int main(int argc, char * argv[])
exitLevel = ULogger::kError;
continue;
}
if(strcmp(argv[i], "-log_console") == 0)
{
logConsole = true;
continue;
}
// Check for RTAB-Map's parameters
std::string key = argv[i];
@@ -289,7 +296,10 @@ int main(int argc, char * argv[])
showUsage();
}
ULogger::setType(ULogger::kTypeConsole);
if(logConsole)
{
ULogger::setType(ULogger::kTypeConsole);
}
//ULogger::setType(ULogger::kTypeFile, rtabmap.getWorkingDir()+"/LogConsole.txt", false);
//ULogger::setBuffered(true);
ULogger::setLevel(logLevel);
@@ -302,11 +312,11 @@ int main(int argc, char * argv[])
Camera * camera = 0;
if(UDirectory::exists(path))
{
camera = new CameraImages(path, startAt, false, false, false, 1.0f/rate);
camera = new CameraImages(path, startAt, false, false, false, rate>0.0f?1.0f/rate:0.0f);
}
else
{
camera = new CameraVideo(path, false, 1.0f/rate);
camera = new CameraVideo(path, false, rate>0.0f?1.0f/rate:0.0f);
}
if(!camera || !camera->init())