/** * This file is part of ORB-SLAM2. * * Copyright (C) 2014-2016 Raúl Mur-Artal (University of Zaragoza) * For more information see * * ORB-SLAM2 is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * ORB-SLAM2 is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with ORB-SLAM2. If not, see . */ #include #include #include #include #include #include #include #include"System.h" using namespace std; void LoadImages(const string &strSequence, vector &vstrImageFilenames, vector &vTimestamps); int main(int argc, char **argv) { if(argc != 4) { cerr << endl << "Usage: ./mono_kitti path_to_vocabulary path_to_settings path_to_sequence" << endl; return 1; } // Retrieve paths to images vector vstrImageFilenames; vector vTimestamps; LoadImages(string(argv[3]), vstrImageFilenames, vTimestamps); int nImages = vstrImageFilenames.size(); // Create SLAM system. It initializes all system threads and gets ready to process frames. ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::MONOCULAR,true); // Vector for tracking time statistics vector vTimesTrack; vTimesTrack.resize(nImages); cout << endl << "-------" << endl; cout << "Start processing sequence ..." << endl; cout << "Images in the sequence: " << nImages << endl << endl; // Main loop cv::Mat im; for(int ni=0; ni >(t2 - t1).count(); vTimesTrack[ni]=ttrack; // Wait to load the next frame double T=0; if(ni0) T = tframe-vTimestamps[ni-1]; if(ttrack &vstrImageFilenames, vector &vTimestamps) { ifstream fTimes; string strPathTimeFile = strPathToSequence + "/times.txt"; fTimes.open(strPathTimeFile.c_str()); while(!fTimes.eof()) { string s; getline(fTimes,s); if(!s.empty()) { stringstream ss; ss << s; double t; ss >> t; vTimestamps.push_back(t); } } string strPrefixLeft = strPathToSequence + "/image_0/"; const int nTimes = vTimestamps.size(); vstrImageFilenames.resize(nTimes); for(int i=0; i