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Gepetto
aicp_mapping
Commits
637b34be
Commit
637b34be
authored
Apr 16, 2019
by
Maurice Fallon
Browse files
add timing information
parent
a312113b
Changes
2
Hide whitespace changes
Inline
Side-by-side
aicp_core/src/registration/app.cpp
View file @
637b34be
...
...
@@ -224,7 +224,9 @@ void App::runAicpPipeline(pcl::PointCloud<pcl::PointXYZ>::Ptr& reference_prefilt
= Overlap =
===========================*/
TimingUtils
::
tic
();
computeOverlap
(
reference_prefiltered
,
reading_prefiltered
,
reference_pose
,
reading_pose
);
TimingUtils
::
toc
(
"computeOverlap"
);
/*=================================
= Alignment Risk =
...
...
@@ -233,12 +235,14 @@ void App::runAicpPipeline(pcl::PointCloud<pcl::PointXYZ>::Ptr& reference_prefilt
if
(
cl_cfg_
.
failure_prediction_mode
)
computeAlignmentRisk
(
reference_prefiltered
,
reading_prefiltered
,
reference_pose
,
reading_pose
);
TimingUtils
::
tic
();
/*================================
= Registration =
================================*/
if
(
!
cl_cfg_
.
failure_prediction_mode
||
// if alignment risk disabled
risk_prediction_
(
0
,
0
)
<=
class_params_
.
svm
.
threshold
)
// or below threshold
computeRegistration
(
*
reference_prefiltered
,
*
reading_prefiltered
,
T
);
TimingUtils
::
toc
(
"computeRegistration"
);
}
...
...
@@ -334,8 +338,9 @@ void App::processCloud(AlignedCloudPtr cloud){
first_cloud_initialized_
=
true
;
}
else
{
TimingUtils
::
tic
();
TimingUtils
::
tic
();
TimingUtils
::
tic
();
if
(
cl_cfg_
.
verbose
)
{
// Publish original reading cloud
...
...
@@ -366,6 +371,7 @@ void App::processCloud(AlignedCloudPtr cloud){
filtered_read
<<
"/reading_prefiltered.pcd"
;
pcd_writer_
.
write
<
pcl
::
PointXYZ
>
(
filtered_read
.
str
(),
*
read_prefiltered
,
false
);
}
TimingUtils
::
toc
(
"setAndFilterReading"
);
/*=====================================
= AICP Registration =
...
...
@@ -375,6 +381,7 @@ void App::processCloud(AlignedCloudPtr cloud){
runAicpPipeline
(
ref_prefiltered
,
read_prefiltered
,
ref_pose
,
read_pose
,
correction
);
TimingUtils
::
tic
();
if
(
!
cl_cfg_
.
failure_prediction_mode
||
// if alignment risk disabled
risk_prediction_
(
0
,
0
)
<=
class_params_
.
svm
.
threshold
)
// or below threshold
{
...
...
@@ -425,12 +432,14 @@ void App::processCloud(AlignedCloudPtr cloud){
updates_counter_
++
;
cout
<<
"[Main] -----> ALIGNMENT RISK REFERENCE UPDATE"
<<
endl
;
}
TimingUtils
::
toc
(
"updateReference"
);
initialT_
=
correction
*
initialT_
;
/*======================================
= Save and Visualize =
======================================*/
TimingUtils
::
tic
();
// Store chain of corrections for publishing
total_correction_
=
fromMatrix4fToIsometry3d
(
initialT_
);
...
...
@@ -517,8 +526,8 @@ void App::processCloud(AlignedCloudPtr cloud){
aligned_read
<<
"/reading_aligned.pcd"
;
pcd_writer_
.
write
<
pcl
::
PointXYZ
>
(
aligned_read
.
str
(),
*
aligned_clouds_graph_
->
getLastCloud
()
->
getCloud
(),
false
);
}
TimingUtils
::
toc
();
TimingUtils
::
toc
(
"postProcessing"
);
TimingUtils
::
toc
(
"fullLoop"
);
cout
<<
"============================"
<<
endl
<<
"[Main] Summary:"
<<
endl
...
...
aicp_ros/src/app_ros.cpp
View file @
637b34be
...
...
@@ -53,6 +53,7 @@ AppROS::AppROS(ros::NodeHandle &nh,
// Write the incoming data to file. This should be false when running live
if
(
cl_cfg_
.
write_input_clouds_to_file
)
{
ROS_WARN_STREAM
(
"[Aicp] Writing input clouds to file. Only do this in post processing"
);
std
::
stringstream
input_poses_filename
;
input_poses_filename
<<
data_directory_path_
.
str
()
<<
"/input_poses.csv"
;
...
...
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