Add total time clock

src/examples/fundamental_matrix.cpp

@@ -154,7 +154,7 @@ int main(int argc, char** argv)
     cv::Mat descriptors_1 = des_ptr->getDescriptor( image_buffer.back(), keypoints_1);
 
     clock_t tStart, tDet, tDesc, tMatch, tFilter, tFund;
-    double t_det(0), t_desc(0), t_match(0), t_filter(0), t_fund(0);
+    double t_det(0), t_desc(0), t_match(0), t_filter(0), t_fund(0), t_total(0);
     const int CLOCKS_PER_MSEC = (CLOCKS_PER_SEC/1000);
 
     int n_iter = 0;
@@ -196,8 +196,8 @@ int main(int argc, char** argv)
         	if (keypoints_1.size() * keypoints_2.size() != 0)
         	{
         		// match (try flann later)
-        		//-- Step 3: Matching descriptor vectors using FLANN matcher
-        		mat_ptr->match(descriptors_1,descriptors_2,des_ptr->getSize(),matches);
+        		//-- Step 3: Matching descriptor vectors
+        	    mat_ptr->match(descriptors_1,descriptors_2,des_ptr->getSize(),matches);
 
         		//-- Quick calculation of max and min distances between keypoints
         		for (int ii = 0; ii < descriptors_1.rows; ii++)
@@ -221,7 +221,7 @@ int main(int argc, char** argv)
         	//-- Select only "good" matches (i.e. those at a distance which is small)
         	for (unsigned int ii = 0; ii < matches.size(); ii++)
         	{
-        		if (matches[ii].distance <= 50) //std::max(2*min_dist, 0.02) )
+        		if (matches[ii].distance <= 20) //std::max(2*min_dist, 0.02) )
         		{
         			good_matches.push_back(matches[ii]);
         			matched_1.push_back(keypoints_1[matches[ii].queryIdx].pt);
@@ -260,8 +260,9 @@ int main(int argc, char** argv)
         	t_match     += double( tMatch - tDesc  )/CLOCKS_PER_MSEC;
         	t_filter    += double(tFilter - tMatch )/CLOCKS_PER_MSEC;
         	t_fund      += double(  tFund - tFilter)/CLOCKS_PER_MSEC;
+        	t_total     += double(clock() - tStart )/CLOCKS_PER_MSEC;
 
-        	std::cout << "det: " << t_det/n_iter << "ms - desc: " << t_desc/n_iter << "ms - match: " << t_match/n_iter << "ms - filter: " << t_filter/n_iter << "ms - found: " << t_fund/n_iter << "ms" << std::endl;
+        	std::cout << "det: " << t_det/n_iter << "ms - desc: " << t_desc/n_iter << "ms - match: " << t_match/n_iter << "ms - filter: " << t_filter/n_iter << "ms - found: " << t_fund/n_iter << "ms - Total: " << t_total/n_iter << "ms" << std::endl;
 
             std::cout << "+++++++++++++++" << std::endl;