Take you step by step to learn the ORBSLAM3 source code (twenty-two) Introduction to Tracking.cc PrintTimeStats

Table of contents

I. Introduction

2. Code

2.1 Complete code

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I. Introduction

    This code is a C++ function named Tracking::PrintTimeStats(), which belongs to Trackingclass. The main purpose of this function is to calculate and print out the average time and standard deviation spent on various tracking and local mapping tasks, and output this information to both the console and a ExecMean.txttext file named.

Here are the main steps and functions of the code:

1. Saving data to file : First, save the tracking and local mapping statistics to a file by calling the TrackStats2File()and functions (these two functions are not given in the code snippet and may be other member functions of the class).LocalMapStats2File()