set default build type to release

JingaoLouis · May 25, 2019 · 6c808a3 · 6c808a3
1 parent 1189474
commit 6c808a3
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Showing 3 changed files with 11 additions and 4 deletions.
diff --git a/ch13/CMakeLists.txt b/ch13/CMakeLists.txt
@@ -1,8 +1,10 @@
 cmake_minimum_required(VERSION 2.8)
 project(myslam)
 
+set(CMAKE_BUILD_TYPE Release)
+
 set(CMAKE_CXX_FLAGS "-std=c++11 -Wall")
-set(CMAKE_CXX_FLAGS_RELEASE  "-std=c++11 -O3")
+set(CMAKE_CXX_FLAGS_RELEASE  "-std=c++11 -O3 -fopenmp -pthread")
 
 list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)

diff --git a/ch13/config/default.yaml b/ch13/config/default.yaml
@@ -1,7 +1,8 @@
 %YAML:1.0
 # data
 # the tum dataset directory, change it to yours! 
-dataset_dir: /media/xiang/Data/Dataset/Kitti/dataset/sequences/00
+# dataset_dir: /media/xiang/Data/Dataset/Kitti/dataset/sequences/00
+dataset_dir: /mnt/1A9286BD92869CBF/Dataset/Kitti/dataset/sequences/05
 
 # camera intrinsics
 camera.fx: 517.3

diff --git a/ch13/src/visual_odometry.cpp b/ch13/src/visual_odometry.cpp
@@ -1,8 +1,8 @@
 //
 // Created by gaoxiang on 19-5-4.
 //
-
 #include "myslam/visual_odometry.h"
+#include <chrono>
 #include "myslam/config.h"
 
 namespace myslam {
@@ -42,10 +42,14 @@ bool VisualOdometry::Init() {
 void VisualOdometry::Run() {
     while (1) {
         LOG(INFO) << "VO is running";
+        auto t1 = std::chrono::steady_clock::now();
         if (Step() == false) {
             break;
         }
-        usleep(10000);
+        auto t2 = std::chrono::steady_clock::now();
+        auto time_used =
+            std::chrono::duration_cast<std::chrono::duration<double>>(t2 - t1);
+        LOG(INFO) << "VO cost time: " << time_used.count() << " seconds.";
     }
 
     backend_->Stop();