/**
* Quit if viewer was closed.
*/
void check_quit() {
#ifdef USE_GUI
if (viewer.exit_requested()) {
cout << endl << "Aborted by user..." << endl;
exit(0);
}
#endif
}
/**
* 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);
}