/** * This file is part of ORB-SLAM3 * * Copyright (C) 2017-2021 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 using namespace std; void LoadImages(const string &strPathToSequence, vector &vstrImageLeft, vector &vstrImageRight, vector &vTimestamps); int main(int argc, char **argv) { if(argc != 4) { cerr << endl << "Usage: ./stereo_kitti path_to_vocabulary path_to_settings path_to_sequence" << endl; return 1; } // Retrieve paths to images vector vstrImageLeft; vector vstrImageRight; vector vTimestamps; LoadImages(string(argv[3]), vstrImageLeft, vstrImageRight, vTimestamps); const int nImages = vstrImageLeft.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::STEREO,true); float imageScale = SLAM.GetImageScale(); // 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; double t_track = 0.f; double t_resize = 0.f; // Main loop cv::Mat imLeft, imRight; for(int ni=0; ni >(t_End_Resize - t_Start_Resize).count(); SLAM.InsertResizeTime(t_resize); #endif } #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 images to the SLAM system SLAM.TrackStereo(imLeft,imRight,tframe); #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 #ifdef REGISTER_TIMES t_track = t_resize + std::chrono::duration_cast >(t2 - t1).count(); SLAM.InsertTrackTime(t_track); #endif double ttrack= std::chrono::duration_cast >(t2 - t1).count(); vTimesTrack[ni]=ttrack; // Wait to load the next frame double T=0; if(ni0) T = tframe-vTimestamps[ni-1]; if(ttrack &vstrImageLeft, vector &vstrImageRight, 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/"; string strPrefixRight = strPathToSequence + "/image_1/"; const int nTimes = vTimestamps.size(); vstrImageLeft.resize(nTimes); vstrImageRight.resize(nTimes); for(int i=0; i