96 lines
3.5 KiB
C++
96 lines
3.5 KiB
C++
// This file is part of SVO - Semi-direct Visual Odometry.
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//
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// Copyright (C) 2014 Christian Forster <forster at ifi dot uzh dot ch>
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// (Robotics and Perception Group, University of Zurich, Switzerland).
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//
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// SVO is free software: you can redistribute it and/or modify it under the
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// terms of the GNU General Public License as published by the Free Software
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// Foundation, either version 3 of the License, or any later version.
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//
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// SVO is distributed in the hope that it will be useful, but WITHOUT ANY
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// WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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// FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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#ifndef SVO_GLOBAL_H_
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#define SVO_GLOBAL_H_
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#include <list>
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#include <vector>
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#include <string>
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#include <stdint.h>
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#include <stdio.h>
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#include <math.h>
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#include <Eigen/Core>
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#include <opencv2/opencv.hpp>
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#include <sophus/se3.h>
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#include <vikit/performance_monitor.h>
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#include <boost/shared_ptr.hpp>
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#ifdef SVO_USE_ROS
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#include <ros/console.h>
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#define SVO_DEBUG_STREAM(x) ROS_DEBUG_STREAM(x)
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#define SVO_INFO_STREAM(x) ROS_INFO_STREAM(x)
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#define SVO_WARN_STREAM(x) ROS_WARN_STREAM(x)
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#define SVO_WARN_STREAM_THROTTLE(rate, x) ROS_WARN_STREAM_THROTTLE(rate, x)
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#define SVO_ERROR_STREAM(x) ROS_ERROR_STREAM(x)
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#else
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#define SVO_INFO_STREAM(x) std::cerr<<"\033[0;0m[INFO] "<<x<<"\033[0;0m"<<std::endl;
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#ifdef SVO_DEBUG_OUTPUT
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#define SVO_DEBUG_STREAM(x) SVO_INFO_STREAM(x)
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#else
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#define SVO_DEBUG_STREAM(x)
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#endif
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#define SVO_WARN_STREAM(x) std::cerr<<"\033[0;33m[WARN] "<<x<<"\033[0;0m"<<std::endl;
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#define SVO_ERROR_STREAM(x) std::cerr<<"\033[1;31m[ERROR] "<<x<<"\033[0;0m"<<std::endl;
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#include <chrono> // Adapted from rosconsole. Copyright (c) 2008, Willow Garage, Inc.
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#define SVO_WARN_STREAM_THROTTLE(rate, x) \
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do { \
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static double __log_stream_throttle__last_hit__ = 0.0; \
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std::chrono::time_point<std::chrono::system_clock> __log_stream_throttle__now__ = \
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std::chrono::system_clock::now(); \
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if (__log_stream_throttle__last_hit__ + rate <= \
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std::chrono::duration_cast<std::chrono::seconds>( \
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__log_stream_throttle__now__.time_since_epoch()).count()) { \
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__log_stream_throttle__last_hit__ = \
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std::chrono::duration_cast<std::chrono::seconds>( \
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__log_stream_throttle__now__.time_since_epoch()).count(); \
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SVO_WARN_STREAM(x); \
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} \
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} while(0)
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#endif
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namespace svo
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{
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using namespace Eigen;
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using namespace Sophus;
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const double EPS = 0.0000000001;
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const double PI = 3.14159265;
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#ifdef SVO_TRACE
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extern vk::PerformanceMonitor* g_permon;
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#define SVO_LOG(value) g_permon->log(std::string((#value)),(value))
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#define SVO_LOG2(value1, value2) SVO_LOG(value1); SVO_LOG(value2)
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#define SVO_LOG3(value1, value2, value3) SVO_LOG2(value1, value2); SVO_LOG(value3)
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#define SVO_LOG4(value1, value2, value3, value4) SVO_LOG2(value1, value2); SVO_LOG2(value3, value4)
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#define SVO_START_TIMER(name) g_permon->startTimer((name))
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#define SVO_STOP_TIMER(name) g_permon->stopTimer((name))
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#else
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#define SVO_LOG(v)
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#define SVO_LOG2(v1, v2)
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#define SVO_LOG3(v1, v2, v3)
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#define SVO_LOG4(v1, v2, v3, v4)
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#define SVO_START_TIMER(name)
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#define SVO_STOP_TIMER(name)
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#endif
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class Frame;
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typedef boost::shared_ptr<Frame> FramePtr;
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} // namespace svo
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#endif // SVO_GLOBAL_H_
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