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ros: added local nodes count on rtabmap terminal status

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/ros-pkg@1487 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-07-09 18:10:58 +00:00
parent b9673f6657
commit ed3fd48baa
1 changed files with 5 additions and 1 deletions
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src/CoreWrapper.cpp
+5 -1
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@@ -523,7 +523,11 @@ void CoreWrapper::process(
"when you need to have IDs output of RTAB-map synchronised with the source " "when you need to have IDs output of RTAB-map synchronised with the source "
"image sequence ID."); "image sequence ID.");
} }
ROS_INFO("rtabmap: Update rate=%f s, Limit=%f s, Processing time = %f s", 1.0f/rate_, rtabmap_.getTimeThreshold()/1000.0f, timer.ticks()); ROS_INFO("rtabmap: Update rate=%fs, Limit=%fs, Processing time = %fs (%d local nodes)",
1.0f/rate_,
rtabmap_.getTimeThreshold()/1000.0f,
timer.ticks(),
rtabmap_.getWMSize()+rtabmap_.getSTMSize());
} }
bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&) bool CoreWrapper::updateRtabmapCallback(std_srvs::Empty::Request&, std_srvs::Empty::Response&)