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Add frame_publisher::get_tracking_time_elapsed_ms #579

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merged 1 commit into from
Apr 6, 2024
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Add frame_publisher::get_tracking_time_elapsed_ms #579

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4 changes: 4 additions & 0 deletions src/stella_vslam/publish/frame_publisher.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
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2 changes: 2 additions & 0 deletions src/stella_vslam/publish/frame_publisher.h
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Expand Up @@ -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,
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