From 4cf56f59d1e2a9a26af008387550394eb2b35524 Mon Sep 17 00:00:00 2001 From: ymd-stella <world.applepie@gmail.com> Date: Sat, 6 Apr 2024 09:09:51 +0900 Subject: [PATCH] Add frame_publisher::get_tracking_time_elapsed_ms --- src/stella_vslam/publish/frame_publisher.cc | 4 ++++ src/stella_vslam/publish/frame_publisher.h | 2 ++ 2 files changed, 6 insertions(+) diff --git a/src/stella_vslam/publish/frame_publisher.cc b/src/stella_vslam/publish/frame_publisher.cc index f2d459ba..a66fd346 100644 --- a/src/stella_vslam/publish/frame_publisher.cc +++ b/src/stella_vslam/publish/frame_publisher.cc @@ -109,6 +109,10 @@ cv::Mat frame_publisher::get_image() { return img; } +double frame_publisher::get_tracking_time_elapsed_ms() { + return elapsed_ms_; +} + unsigned int frame_publisher::draw_tracked_points(cv::Mat& img, const std::vector<cv::KeyPoint>& curr_keypts, const std::vector<std::shared_ptr<data::landmark>>& curr_lms, const bool mapping_is_enabled, diff --git a/src/stella_vslam/publish/frame_publisher.h b/src/stella_vslam/publish/frame_publisher.h index b4c2e447..5c9ad27e 100644 --- a/src/stella_vslam/publish/frame_publisher.h +++ b/src/stella_vslam/publish/frame_publisher.h @@ -61,6 +61,8 @@ class frame_publisher { cv::Mat get_image(); + double get_tracking_time_elapsed_ms(); + protected: unsigned int draw_tracked_points(cv::Mat& img, const std::vector<cv::KeyPoint>& curr_keypts, const std::vector<std::shared_ptr<data::landmark>>& curr_lms,