| 113 | } |
| 114 | |
| 115 | void MapROS::updateESDFCallback(const ros::TimerEvent& /*event*/) { |
| 116 | if (!esdf_need_update_) return; |
| 117 | auto t1 = ros::Time::now(); |
| 118 | |
| 119 | map_->updateESDF3d(); |
| 120 | esdf_need_update_ = false; |
| 121 | |
| 122 | auto t2 = ros::Time::now(); |
| 123 | esdf_time_ += (t2 - t1).toSec(); |
| 124 | max_esdf_time_ = max(max_esdf_time_, (t2 - t1).toSec()); |
| 125 | esdf_num_++; |
| 126 | if (show_esdf_time_) |
| 127 | ROS_WARN("ESDF t: cur: %lf, avg: %lf, max: %lf", (t2 - t1).toSec(), esdf_time_ / esdf_num_, |
| 128 | max_esdf_time_); |
| 129 | } |
| 130 | |
| 131 | void MapROS::depthPoseCallback( |
| 132 | const sensor_msgs::ImageConstPtr& img, const geometry_msgs::PoseStampedConstPtr& pose) { |
nothing calls this directly
no test coverage detected