debug GPU version

GPU_version/svo/include/gpu_svo/timer.h

@@ -0,0 +1,81 @@
+#ifndef TIMER_H
+#define TIMER_H
+
+#include <sys/time.h>
+#include <stdio.h>
+#include <unistd.h>
+
+namespace vk
+{
+
+class Timer
+{
+private:
+  timeval start_time_;
+  double time_;
+  double accumulated_;
+public:
+
+  /// The constructor directly starts the timer.
+  Timer() :
+    time_(0.0),
+    accumulated_(0.0)
+  {
+    start();
+  }
+
+  ~Timer()
+  {}
+
+  inline void start()
+  {
+    accumulated_ = 0.0;
+    gettimeofday(&start_time_, NULL);
+  }
+
+  inline void resume()
+  {
+    gettimeofday(&start_time_, NULL);
+  }
+
+  inline double stop()
+  {
+    timeval end_time;
+    gettimeofday(&end_time, NULL);
+    long seconds  = end_time.tv_sec  - start_time_.tv_sec;
+    long useconds = end_time.tv_usec - start_time_.tv_usec;
+    time_ = ((seconds) + useconds*0.000001) + accumulated_;
+    accumulated_ = time_;
+    return time_;
+  }
+
+  inline double getTime() const
+  {
+    return time_;
+  }
+
+  inline void reset()
+  {
+    time_ = 0.0;
+    accumulated_ = 0.0;
+  }
+
+  static double getCurrentTime()
+  {
+    timeval time_now;
+    gettimeofday(&time_now, NULL);
+    return time_now.tv_sec + time_now.tv_usec*0.000001;
+  }
+
+  static double getCurrentSecond()
+  {
+    timeval time_now;
+    gettimeofday(&time_now, NULL);
+    return time_now.tv_sec;
+  }
+
+};
+
+} // end namespace vk
+
+#endif