Function mono_tracking

example/run_camera_slam.cc:53–151

#endif

void mono_tracking(const std::shared_ptr<PLPSLAM::config> &cfg,
                   const std::string &vocab_file_path, const unsigned int cam_num, const std::string &mask_img_path,
                   const float scale, const std::string &map_db_path)
{
    // load the mask image
    const cv::Mat mask = mask_img_path.empty() ? cv::Mat{} : cv::imread(mask_img_path, cv::IMREAD_GRAYSCALE);

    // build a SLAM system
    PLPSLAM::system SLAM(cfg, vocab_file_path);
    // startup the SLAM process
    SLAM.startup();

    // create a viewer object
    // and pass the frame_publisher and the map_publisher
#ifdef USE_PANGOLIN_VIEWER
    pangolin_viewer::viewer viewer(cfg, &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher());
#elif USE_SOCKET_PUBLISHER
    socket_publisher::publisher publisher(cfg, &SLAM, SLAM.get_frame_publisher(), SLAM.get_map_publisher());
#endif

    auto video = cv::VideoCapture(cam_num);
    if (!video.isOpened())
    {
        spdlog::critical("cannot open a camera {}", cam_num);
        SLAM.shutdown();
        return;
    }

    cv::Mat frame;
    double timestamp = 0.0;
    std::vector<double> track_times;

    unsigned int num_frame = 0;

    bool is_not_end = true;
    // run the SLAM in another thread
    std::thread thread([&]()
                       {
                           while (is_not_end)
                           {
                               // check if the termination of SLAM system is requested or not
                               if (SLAM.terminate_is_requested())
                               {
                                   break;
                               }

                               is_not_end = video.read(frame);
                               if (frame.empty())
                               {
                                   continue;
                               }
                               if (scale != 1.0)
                               {
                                   cv::resize(frame, frame, cv::Size(), scale, scale, cv::INTER_LINEAR);
                               }

                               const auto tp_1 = std::chrono::steady_clock::now();