Method TrackStats2File

src/Tracking.cc:213–261

}

void Tracking::TrackStats2File()
{
    ofstream f;
    f.open("SessionInfo.txt");
    f << fixed;
    f << "Number of KFs: " << mpAtlas->GetAllKeyFrames().size() << endl;
    f << "Number of MPs: " << mpAtlas->GetAllMapPoints().size() << endl;

    f << "OpenCV version: " << CV_VERSION << endl;

    f.close();

    f.open("TrackingTimeStats.txt");
    f << fixed << setprecision(6);

    f << "#Image Rect[ms], Image Resize[ms], ORB ext[ms], Stereo match[ms], IMU preint[ms], Pose pred[ms], LM track[ms], KF dec[ms], Total[ms]" << endl;

    for(int i=0; i<vdTrackTotal_ms.size(); ++i)
    {
        double stereo_rect = 0.0;
        if(!vdRectStereo_ms.empty())
        {
            stereo_rect = vdRectStereo_ms[i];
        }

        double resize_image = 0.0;
        if(!vdResizeImage_ms.empty())
        {
            resize_image = vdResizeImage_ms[i];
        }

        double stereo_match = 0.0;
        if(!vdStereoMatch_ms.empty())
        {
            stereo_match = vdStereoMatch_ms[i];
        }

        double imu_preint = 0.0;
        if(!vdIMUInteg_ms.empty())
        {
            imu_preint = vdIMUInteg_ms[i];
        }

        f << stereo_rect << "," << resize_image << "," << vdORBExtract_ms[i] << "," << stereo_match << "," << imu_preint << ","
          << vdPosePred_ms[i] <<  "," << vdLMTrack_ms[i] << "," << vdNewKF_ms[i] << "," << vdTrackTotal_ms[i] << endl;
    }

    f.close();
}

void Tracking::PrintTimeStats()
{