| 182 | } |
| 183 | |
| 184 | void Tracking::LocalMapStats2File() |
| 185 | { |
| 186 | ofstream f; |
| 187 | f.open("LocalMapTimeStats.txt"); |
| 188 | f << fixed << setprecision(6); |
| 189 | f << "#Stereo rect[ms], MP culling[ms], MP creation[ms], LBA[ms], KF culling[ms], Total[ms]" << endl; |
| 190 | for(int i=0; i<mpLocalMapper->vdLMTotal_ms.size(); ++i) |
| 191 | { |
| 192 | f << mpLocalMapper->vdKFInsert_ms[i] << "," << mpLocalMapper->vdMPCulling_ms[i] << "," |
| 193 | << mpLocalMapper->vdMPCreation_ms[i] << "," << mpLocalMapper->vdLBASync_ms[i] << "," |
| 194 | << mpLocalMapper->vdKFCullingSync_ms[i] << "," << mpLocalMapper->vdLMTotal_ms[i] << endl; |
| 195 | } |
| 196 | |
| 197 | f.close(); |
| 198 | |
| 199 | f.open("LBA_Stats.txt"); |
| 200 | f << fixed << setprecision(6); |
| 201 | f << "#LBA time[ms], KF opt[#], KF fixed[#], MP[#], Edges[#]" << endl; |
| 202 | for(int i=0; i<mpLocalMapper->vdLBASync_ms.size(); ++i) |
| 203 | { |
| 204 | f << mpLocalMapper->vdLBASync_ms[i] << "," << mpLocalMapper->vnLBA_KFopt[i] << "," |
| 205 | << mpLocalMapper->vnLBA_KFfixed[i] << "," << mpLocalMapper->vnLBA_MPs[i] << "," |
| 206 | << mpLocalMapper->vnLBA_edges[i] << endl; |
| 207 | } |
| 208 | |
| 209 | |
| 210 | f.close(); |
| 211 | } |
| 212 | |
| 213 | void Tracking::TrackStats2File() |
| 214 | { |