打印平均时间

TrackingRos.cpp

@@ -143,7 +143,22 @@ void TrackingRos::ThreadTrackingProcess()
 
             uint64_t begin = GetCurTime();
             m_tracker.Run(input, detectionsId, updateId, lostId);
-            SDK_LOG(SDK_INFO, "m_tracker.Run time = %llu", GetCurTime() - begin);
+            uint64_t rTime = GetCurTime() - begin;
+            SDK_LOG(SDK_INFO, "m_tracker.Run time = %llu", rTime);
+            static int count = 0;
+            count++;
+            static uint64_t totelTime = 0;
+            totelTime += rTime;
+            static uint64_t countBegin = 0;
+            if (countBegin == 0)
+                countBegin = GetCurTime();
+            if (GetCurTime() - countBegin > 3000 * 1000)
+            {
+                SDK_LOG(SDK_INFO, "run kf average time = %llu", totelTime/counts);
+                countBegin = GetCurTime();
+                count = 0;
+                totelTime = 0;
+            }
 
             std::map<uint64_t, std::shared_ptr<Track3D> >& trackers = m_tracker.GetStates();