/**
* 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 &strFile, vector &vstrImageFilenames,
vector &vTimestamps);
int main(int argc, char **argv)
{
if(argc != 4)
{
cerr << endl << "Usage: ./mono_tum path_to_vocabulary path_to_settings path_to_sequence" << endl;
return 1;
}
// Retrieve paths to images
vector vstrImageFilenames;
vector vTimestamps;
string strFile = string(argv[3])+"/rgb.txt";
LoadImages(strFile, vstrImageFilenames, vTimestamps);
int nImages = vstrImageFilenames.size();
// 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);
// Vector for tracking time statistics
vector vTimesTrack;
vTimesTrack.resize(nImages);
// 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 f;
f.open(strFile.c_str());
// skip first three lines
string s0;
getline(f,s0);
getline(f,s0);
getline(f,s0);
while(!f.eof())
{
string s;
getline(f,s);
if(!s.empty())
{
stringstream ss;
ss << s;
double t;
string sRGB;
ss >> t;
vTimestamps.push_back(t);
ss >> sRGB;
vstrImageFilenames.push_back(sRGB);
}
}
}