Function main

example/run_camera_localization.cc:157–244

}

int main(int argc, char *argv[])
{
#ifdef USE_STACK_TRACE_LOGGER
    google::InitGoogleLogging(argv[0]);
    google::InstallFailureSignalHandler();
#endif

    // create options
    popl::OptionParser op("Allowed options");
    auto help = op.add<popl::Switch>("h", "help", "produce help message");
    auto vocab_file_path = op.add<popl::Value<std::string>>("v", "vocab", "vocabulary file path");
    auto cam_num = op.add<popl::Value<unsigned int>>("n", "number", "camera number");
    auto config_file_path = op.add<popl::Value<std::string>>("c", "config", "config file path");
    auto mask_img_path = op.add<popl::Value<std::string>>("", "mask", "mask image path", "");
    auto scale = op.add<popl::Value<float>>("s", "scale", "scaling ratio of images", 1.0);
    auto map_db_path = op.add<popl::Value<std::string>>("p", "map-db", "path to a prebuilt map database");
    auto mapping = op.add<popl::Switch>("", "mapping", "perform mapping as well as localization");
    auto debug_mode = op.add<popl::Switch>("", "debug", "debug mode");
    try
    {
        op.parse(argc, argv);
    }
    catch (const std::exception &e)
    {
        std::cerr << e.what() << std::endl;
        std::cerr << std::endl;
        std::cerr << op << std::endl;
        return EXIT_FAILURE;
    }

    // check validness of options
    if (help->is_set())
    {
        std::cerr << op << std::endl;
        return EXIT_FAILURE;
    }
    if (!vocab_file_path->is_set() || !cam_num->is_set() || !config_file_path->is_set() || !map_db_path->is_set())
    {
        std::cerr << "invalid arguments" << std::endl;
        std::cerr << std::endl;
        std::cerr << op << std::endl;
        return EXIT_FAILURE;
    }

    // setup logger
    spdlog::set_pattern("[%Y-%m-%d %H:%M:%S.%e] %^[%L] %v%$");
    if (debug_mode->is_set())
    {
        spdlog::set_level(spdlog::level::debug);
    }
    else
    {
        spdlog::set_level(spdlog::level::info);
    }

    // load configuration
    std::shared_ptr<PLPSLAM::config> cfg;
    try