Commit 7330a65c authored by wangdawei's avatar wangdawei

test

parent 5002d792
...@@ -68,15 +68,15 @@ int main(int argc, char *argv[]) ...@@ -68,15 +68,15 @@ int main(int argc, char *argv[])
for(; bag_iter != bag_end_iter; bag_iter++) { for(; bag_iter != bag_end_iter; bag_iter++) {
if(bag_iter->path().extension().string() == ".bag"){ if(bag_iter->path().extension().string() == ".bag"){
LOG(INFO) << "bag found: " << bag_iter->path().string(); LOG(INFO) << "bag found: " << bag_iter->path().string();
Timer::Evaluate( auto start = std::chrono::high_resolution_clock::now();
[&, nullptr]() { adjustPPK.ReadBag(bag_iter->path().string());
adjustPPK.ReadBag(bag_iter->path().string()); auto end = std::chrono::high_resolution_clock::now();
}, auto time_used = std::chrono::duration_cast<std::chrono::duration<double>>(end - start).count() * 1000;
"1 ReadBag"); LOG(INFO) << "ReadBag time_used " << time_used;
break; break;
} }
} }
Timer::PrintAll();
return 0; return 0;
} }
...@@ -383,9 +383,9 @@ void FastVoxelMatcher::ScoreCandidates(const VoxelMap &voxel_map, ...@@ -383,9 +383,9 @@ void FastVoxelMatcher::ScoreCandidates(const VoxelMap &voxel_map,
no_map_cnt++; no_map_cnt++;
} }
} }
LOG(INFO) << "search_depth: " << candidates->front().search_depth // LOG(INFO) << "search_depth: " << candidates->front().search_depth
<< " grid_indexes: " << candidates->front().scan->grid_indexes.size() // << " grid_indexes: " << candidates->front().scan->grid_indexes.size()
<< ", no_map_cnt: " << no_map_cnt; // << ", no_map_cnt: " << no_map_cnt;
} }
if (0 != no_map_cnt) { if (0 != no_map_cnt) {
float multi = (float)candidates->front().scan->grid_indexes.size() / float multi = (float)candidates->front().scan->grid_indexes.size() /
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment