Ejemplo n.º 1
0
/**
 * Quit if viewer was closed.
 */
void check_quit() {
#ifdef USE_GUI
  if (viewer.exit_requested()) {
    cout << endl << "Aborted by user..." << endl;
    exit(0);
  }
#endif
}
Ejemplo n.º 2
0
/**
 * The actual processing of data, in separate thread if GUI enabled.
 */
int process(void* unused) {

  // incrementally process data
  slam.set_properties(prop);
  incremental_slam();

  toc("all");

  if (!prop.quiet) {
    if (!batch_processing) {
      cout << endl;
    }
    double accumulated = tictoc("setup") + tictoc("incremental")
        + tictoc("batch");
    cout << "Accumulated computation time: " << accumulated << "s" << endl;
    cout << "(Overall execution time: " << tictoc("all") << "s)" << endl;
    slam.print_stats();
    cout << endl;
  }

  if (save_stats) {
    cout << "Saving statistics to " << fname_stats << endl;
    save_statistics(fname_stats);
    cout << endl;
  }
  if (write_result) {
    cout << "Saving result to " << fname_result << endl;
    slam.save(fname_result);
    cout << endl;
  }

#ifdef USE_GUI
  if (use_gui) {
    while (true) {
      if (viewer.exit_requested()) {
        exit(0);
      }
      SDL_Delay(100);
    }
  }
#endif

  exit(0);
}