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CloudMonocularARCH.cpp
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CloudMonocularARCH.cpp
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#include <iostream>
#include <algorithm>
#include <fstream>
#include <chrono>
#include <opencv2/core/core.hpp>
#include <System.h>
using namespace std;
void LoadImages(const string &strImagePath, const string &strPathTimes,
vector<string> &vstrImages, vector<double> &vTimeStamps);
int main(int argc, char **argv)
{
if (argc < 5)
{
cerr << endl
<< "Usage: CloudMonocularARCH path_to_vocabulary path_to_settings path_to_sample_image frames_to_capture (trajectory_file_name)" << endl;
return 1;
}
bool bFileName = (((argc - 3) % 2) == 1);
string file_name;
if (bFileName)
{
file_name = string(argv[argc - 1]);
cout << "file name: " << file_name << endl;
}
int num_of_frames = atoi(argv[4]);
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);
// Main loop
cv::Mat im;
im = cv::imread(argv[3], cv::IMREAD_UNCHANGED);
for (int i = 0; i < num_of_frames; i++)
{
// Pass the image to the SLAM system
SLAM.TrackMonocularRemote(im);
}
// Stop all threads
SLAM.Shutdown();
// Save camera trajectory
if (bFileName)
{
const string kf_file = "kf_" + string(argv[argc - 1]) + ".txt";
const string f_file = "f_" + string(argv[argc - 1]) + ".txt";
SLAM.SaveTrajectoryEuRoC(f_file);
SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);
}
else
{
SLAM.SaveTrajectoryEuRoC("CameraTrajectory.txt");
SLAM.SaveKeyFrameTrajectoryEuRoC("KeyFrameTrajectory.txt");
}
return 0;
}