From c455c16fd5f2a8664044f34ad844d518b16c49b8 Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@f169173b-cf89-36c8-b27e-44dbe73f0c83>
Date: Wed, 19 Feb 2014 19:10:25 +0000
Subject: [PATCH] ros-pkg: ROS_INFO of rtabmap processing time

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1128 f169173b-cf89-36c8-b27e-44dbe73f0c83
---
 rtabmap/launch/config/rgbd_gui.ini | 2 +-
 rtabmap/src/CoreWrapper.cpp        | 4 +++-
 rtabmap/src/GuiNode.cpp            | 6 ++++++
 3 files changed, 10 insertions(+), 2 deletions(-)

diff --git a/rtabmap/launch/config/rgbd_gui.ini b/rtabmap/launch/config/rgbd_gui.ini
index 4567e8d3..573153d5 100644
--- a/rtabmap/launch/config/rgbd_gui.ini
+++ b/rtabmap/launch/config/rgbd_gui.ini
@@ -1,6 +1,6 @@
 [Gui]
 General\imagesKept=true
-General\loggerLevel=1
+General\loggerLevel=2
 General\loggerEventLevel=3
 General\loggerPauseLevel=3
 General\loggerType=1
diff --git a/rtabmap/src/CoreWrapper.cpp b/rtabmap/src/CoreWrapper.cpp
index 59eca826..c87cb722 100644
--- a/rtabmap/src/CoreWrapper.cpp
+++ b/rtabmap/src/CoreWrapper.cpp
@@ -18,6 +18,7 @@
 #include <rtabmap/utilite/ULogger.h>
 #include <rtabmap/utilite/UFile.h>
 #include <rtabmap/utilite/UStl.h>
+#include <rtabmap/utilite/UTimer.h>
 #include <rtabmap/utilite/UConversion.h>
 #include <opencv2/highgui/highgui.hpp>
 
@@ -457,7 +458,7 @@ void CoreWrapper::process(
 		const Transform & localTransform,
 		const cv::Mat & scan)
 {
-	ROS_INFO("rtabmap: Processing data...");
+	UTimer timer;
 	if(rtabmap_.isIDsGenerated() || id > 0)
 	{
 		cv::Mat depth16;
@@ -517,6 +518,7 @@ void CoreWrapper::process(
 				 "when you need to have IDs output of RTAB-map synchronised with the source "
 				 "image sequence ID.");
 	}
+	ROS_INFO("rtabmap: Processing time = %fs", timer.ticks());
 }
 
 bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)
diff --git a/rtabmap/src/GuiNode.cpp b/rtabmap/src/GuiNode.cpp
index 863f3195..18e4c857 100644
--- a/rtabmap/src/GuiNode.cpp
+++ b/rtabmap/src/GuiNode.cpp
@@ -10,6 +10,7 @@
 
 #include <QApplication>
 #include <rtabmap/gui/MainWindow.h>
+#include <rtabmap/utilite/ULogger.h>
 #include <signal.h>
 
 void my_handler(int s){
@@ -18,6 +19,11 @@ void my_handler(int s){
 
 int main(int argc, char** argv)
 {
+	ROS_INFO("Starting node...");
+
+	ULogger::setType(ULogger::kTypeConsole);
+	ULogger::setLevel(ULogger::kWarning);
+
 	ros::init(argc, argv, "rtabmapviz");
 
 	GuiWrapper gui(argc, argv);