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fixed Time threshold not set on Console loop closure detection app

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Mathieu Labbe
2015-01-30 18:32:35 -05:00
parent 9d20403930
commit ee0051a585
1 changed files with 2 additions and 22 deletions
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24
tools/ConsoleApp/main.cpp
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@@ -49,7 +49,6 @@ void showUsage()
" path For images, use the directory path. For videos or databases, use full\n " " path For images, use the directory path. For videos or databases, use full\n "
" path name\n" " path name\n"
"Options:\n" "Options:\n"
" -t #.## Time threshold (ms)\n"
" -rate #.## Acquisition time (seconds)\n" " -rate #.## Acquisition time (seconds)\n"
" -rateHz #.## Acquisition rate (Hz), for convenience\n" " -rateHz #.## Acquisition rate (Hz), for convenience\n"
" -repeat # Repeat the process on the data set # times (minimum of 1)\n" " -repeat # Repeat the process on the data set # times (minimum of 1)\n"
@@ -114,7 +113,6 @@ int main(int argc, char * argv[])
printf("\n"); printf("\n");
std::string path; std::string path;
float timeThreshold = 0.0;
float rate = 0.0; float rate = 0.0;
int loopDataset = 0; int loopDataset = 0;
int repeat = 0; int repeat = 0;
@@ -141,23 +139,6 @@ int main(int argc, char * argv[])
} }
break; break;
} }
if(strcmp(argv[i], "-t") == 0)
{
++i;
if(i < argc)
{
timeThreshold = std::atof(argv[i]);
if(timeThreshold < 0)
{
showUsage();
}
}
else
{
showUsage();
}
continue;
}
if(strcmp(argv[i], "-rate") == 0) if(strcmp(argv[i], "-rate") == 0)
{ {
++i; ++i;
@@ -401,7 +382,6 @@ int main(int argc, char * argv[])
pm.insert(ParametersPair(Parameters::kRGBDEnabled(), "false")); pm.insert(ParametersPair(Parameters::kRGBDEnabled(), "false"));
rtabmap.init(pm, inputDbPath); rtabmap.init(pm, inputDbPath);
rtabmap.setTimeThreshold(timeThreshold); // in ms
printf("Avpd init time = %fs\n", timer.ticks()); printf("Avpd init time = %fs\n", timer.ticks());
@@ -412,7 +392,7 @@ int main(int argc, char * argv[])
printf("\nParameters : \n"); printf("\nParameters : \n");
printf(" Data set : %s\n", path.c_str()); printf(" Data set : %s\n", path.c_str());
printf(" Time threshold = %1.2f ms\n", timeThreshold); 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 width=%d, height=%d (0 is default)\n", imageWidth, imageHeight); printf(" Camera width=%d, height=%d (0 is default)\n", imageWidth, imageHeight);
@@ -514,7 +494,7 @@ int main(int argc, char * argv[])
printf(" iteration(%d) time=%fs/%fs\n", count, rtabmapTime, iterationTime); printf(" iteration(%d) time=%fs/%fs\n", count, rtabmapTime, iterationTime);
} }
if(timeThreshold && rtabmapTime > timeThreshold*100.0f) if(rtabmap.getTimeThreshold() && rtabmapTime > rtabmap.getTimeThreshold()*100.0f)
{ {
printf(" ERROR, there is problem, too much time taken... %fs", rtabmapTime); printf(" ERROR, there is problem, too much time taken... %fs", rtabmapTime);
break; // there is problem, don't continue break; // there is problem, don't continue