/** * This file is part of ORB-SLAM3 * * Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. * Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. * * ORB-SLAM3 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-SLAM3 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-SLAM3. * If not, see . */ #include #include #include #include #include #include #include #include"System.h" #include "Converter.h" using namespace std; void LoadImages(const string &strImagePath, const string &strPathTimes, vector &vstrImages, vector &vTimeStamps); double ttrack_tot = 0; int main(int argc, char **argv) { const int num_seq = (argc-3)/2; cout << "num_seq = " << num_seq << endl; bool bFileName= (((argc-3) % 2) == 1); string file_name; if (bFileName) { file_name = string(argv[argc-1]); cout << "file name: " << file_name << endl; } if(argc < 4) { cerr << endl << "Usage: ./mono_tum_vi path_to_vocabulary path_to_settings path_to_image_folder_1 path_to_times_file_1 (path_to_image_folder_2 path_to_times_file_2 ... path_to_image_folder_N path_to_times_file_N) (trajectory_file_name)" << endl; return 1; } // Load all sequences: int seq; vector< vector > vstrImageFilenames; vector< vector > vTimestampsCam; vector nImages; vstrImageFilenames.resize(num_seq); vTimestampsCam.resize(num_seq); nImages.resize(num_seq); int tot_images = 0; for (seq = 0; seq vTimesTrack; vTimesTrack.resize(tot_images); cout << endl << "-------" << endl; cout.precision(17); // Create SLAM system. It initializes all system threads and gets ready to process frames. ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR,true); int proccIm = 0; for (seq = 0; seq clahe = cv::createCLAHE(3.0, cv::Size(8, 8)); for(int ni=0; niapply(im,im); // cout << "mat type: " << im.type() << endl; double tframe = vTimestampsCam[seq][ni]; if(im.empty()) { cerr << endl << "Failed to load image at: " << vstrImageFilenames[seq][ni] << endl; return 1; } #ifdef COMPILEDWITHC11 std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now(); #else std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now(); #endif // Pass the image to the SLAM system SLAM.TrackMonocular(im,tframe); // TODO change to monocular_inertial #ifdef COMPILEDWITHC11 std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now(); #else std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now(); #endif double ttrack= std::chrono::duration_cast >(t2 - t1).count(); ttrack_tot += ttrack; vTimesTrack[ni]=ttrack; // Wait to load the next frame double T=0; if(ni0) T = tframe-vTimestampsCam[seq][ni-1]; if(ttrack &vstrImages, vector &vTimeStamps) { ifstream fTimes; cout << strImagePath << endl; cout << strPathTimes << endl; fTimes.open(strPathTimes.c_str()); vTimeStamps.reserve(5000); vstrImages.reserve(5000); while(!fTimes.eof()) { string s; getline(fTimes,s); if(!s.empty()) { stringstream ss; ss << s; vstrImages.push_back(strImagePath + "/" + ss.str() + ".png"); double t; ss >> t; vTimeStamps.push_back(t/1e9); } } }