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rtabmap-console: added fake initialization at startup to make sure all external libraries are loaded before processing the first frame

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matlabbe
2016-11-15 16:49:58 -05:00
parent b9b3dcb5e3
commit cb31a717cf
1 changed files with 10 additions and 1 deletions
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tools/ConsoleApp/main.cpp
+10 -1
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@@ -259,6 +259,15 @@ int main(int argc, char * argv[])
uInsert(pm, ParametersPair(Parameters::kRtabmapPublishStats(), "false")); uInsert(pm, ParametersPair(Parameters::kRtabmapPublishStats(), "false"));
uInsert(pm, ParametersPair(Parameters::kRGBDEnabled(), "false")); uInsert(pm, ParametersPair(Parameters::kRGBDEnabled(), "false"));
// Process an empty image to make sure every libraries are loaded.
ULogger::Level level = ULogger::level();
ULogger::setLevel(ULogger::kError);
cv::Mat tmp = cv::Mat::zeros(640,480,CV_8UC1);
rtabmap.init(pm);
rtabmap.process(tmp);
rtabmap.close();
ULogger::setLevel(level);
rtabmap.init(pm, inputDbPath); rtabmap.init(pm, inputDbPath);
printf("rtabmap init time = %fs\n", timer.ticks()); printf("rtabmap init time = %fs\n", timer.ticks());
@@ -273,7 +282,7 @@ int main(int argc, char * argv[])
printf(" Time threshold = %1.2f ms\n", rtabmap.getTimeThreshold()); printf(" Time threshold = %1.2f ms\n", rtabmap.getTimeThreshold());
printf(" Image rate = %1.2f s (%1.2f Hz)\n", rate, 1/rate); printf(" Image rate = %1.2f s (%1.2f Hz)\n", rate, 1/rate);
printf(" Repeating data set = %s\n", repeat?"true":"false"); printf(" Repeating data set = %s\n", repeat?"true":"false");
printf(" Camera starts at image %d (default 1)\n", startAt); printf(" Camera starts at image %d (default 0)\n", startAt);
if(createGT) if(createGT)
{ {
printf(" Creating the ground truth matrix.\n"); printf(" Creating the ground truth matrix.\n");