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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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corelib/include/rtabmap/core/Parameters.h
+1
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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, 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, 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, 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.") RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.")
// Hypotheses selection // Hypotheses selection
corelib/include/rtabmap/core/Rtabmap.h
+1
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@@ -153,6 +153,7 @@ private:
unsigned int _maxRetrieved; unsigned int _maxRetrieved;
bool _statisticLogsBufferedInRAM; bool _statisticLogsBufferedInRAM;
bool _statisticLogged; bool _statisticLogged;
bool _statisticLoggedHeaders;
bool _rgbdSlamMode; bool _rgbdSlamMode;
float _rgbdLinearUpdate; float _rgbdLinearUpdate;
float _rgbdAngularUpdate; float _rgbdAngularUpdate;
corelib/src/Rtabmap.cpp
+6 -6
View File
@@ -85,6 +85,7 @@ Rtabmap::Rtabmap() :
_maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()), _maxRetrieved(Parameters::defaultRtabmapMaxRetrieved()),
_statisticLogsBufferedInRAM(Parameters::defaultRtabmapStatisticLogsBufferedInRAM()), _statisticLogsBufferedInRAM(Parameters::defaultRtabmapStatisticLogsBufferedInRAM()),
_statisticLogged(Parameters::defaultRtabmapStatisticLogged()), _statisticLogged(Parameters::defaultRtabmapStatisticLogged()),
_statisticLoggedHeaders(Parameters::defaultRtabmapStatisticLoggedHeaders()),
_rgbdSlamMode(Parameters::defaultRGBDEnabled()), _rgbdSlamMode(Parameters::defaultRGBDEnabled()),
_rgbdLinearUpdate(Parameters::defaultRGBDLinearUpdate()), _rgbdLinearUpdate(Parameters::defaultRGBDLinearUpdate()),
_rgbdAngularUpdate(Parameters::defaultRGBDAngularUpdate()), _rgbdAngularUpdate(Parameters::defaultRGBDAngularUpdate()),
@@ -169,7 +170,7 @@ void Rtabmap::setupLogFiles(bool overwrite)
_foutInt = fopen((_wDir+LOG_I).c_str(), attributes.c_str()); _foutInt = fopen((_wDir+LOG_I).c_str(), attributes.c_str());
#endif #endif
// add header (column identification) // add header (column identification)
if(addLogFHeader && _foutFloat) if(_statisticLoggedHeaders && addLogFHeader && _foutFloat)
{ {
fprintf(_foutFloat, "Column headers:\n"); fprintf(_foutFloat, "Column headers:\n");
fprintf(_foutFloat, " 1-Total iteration time (s)\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, " 19-Retrieval database access time (s)\n");
fprintf(_foutFloat, " 20-Add loop closure link 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, "Column headers:\n");
fprintf(_foutInt, " 1-Loop closure ID\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()); this->setDatabasePath(iter->second.c_str());
} }
if((iter=parameters.find(Parameters::kRtabmapStatisticLogged())) != parameters.end()) Parameters::parse(parameters, Parameters::kRtabmapStatisticLogged(), _statisticLogged);
{ Parameters::parse(parameters, Parameters::kRtabmapStatisticLoggedHeaders(), _statisticLoggedHeaders);
_statisticLogged = uStr2Bool(iter->second.c_str());
}
this->resetMemory(true); this->resetMemory(true);
} }
@@ -342,6 +341,7 @@ void Rtabmap::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kRtabmapMaxRetrieved(), _maxRetrieved); Parameters::parse(parameters, Parameters::kRtabmapMaxRetrieved(), _maxRetrieved);
Parameters::parse(parameters, Parameters::kRtabmapStatisticLogsBufferedInRAM(), _statisticLogsBufferedInRAM); Parameters::parse(parameters, Parameters::kRtabmapStatisticLogsBufferedInRAM(), _statisticLogsBufferedInRAM);
Parameters::parse(parameters, Parameters::kRtabmapStatisticLogged(), _statisticLogged); Parameters::parse(parameters, Parameters::kRtabmapStatisticLogged(), _statisticLogged);
Parameters::parse(parameters, Parameters::kRtabmapStatisticLoggedHeaders(), _statisticLoggedHeaders);
Parameters::parse(parameters, Parameters::kRGBDEnabled(), _rgbdSlamMode); Parameters::parse(parameters, Parameters::kRGBDEnabled(), _rgbdSlamMode);
Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rgbdLinearUpdate); Parameters::parse(parameters, Parameters::kRGBDLinearUpdate(), _rgbdLinearUpdate);
Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rgbdAngularUpdate); Parameters::parse(parameters, Parameters::kRGBDAngularUpdate(), _rgbdAngularUpdate);