/** * 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 using namespace std; void LoadImages(const string &strImagePath, const string &strPathTimes, vector &vstrImages, vector &vTimeStamps); int main(int argc, char **argv) { if(argc < 5) { cerr << endl << "Usage: ./mono_euroc path_to_vocabulary path_to_settings path_to_sequence_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; } 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; } // 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); for (seq = 0; seq &vstrImages, vector &vTimeStamps) { ifstream fTimes; 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); } } }