Function mono_tracking

example/run_video_slam.cc:51–183

#endif

void mono_tracking(const std::shared_ptr<PLPSLAM::config> &cfg,
                   const std::string &vocab_file_path, const std::string &video_file_path, const std::string &mask_img_path,
                   const unsigned int frame_skip, const bool no_sleep, const bool auto_term,
                   const bool eval_log, 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(video_file_path, cv::CAP_FFMPEG);
    std::vector<double> track_times;

    cv::Mat frame;
    double timestamp = 0.0;

    unsigned int num_frame = 0;

    bool is_not_end = true;
    // run the SLAM in another thread
    std::thread thread([&]()
                       {
                           while (is_not_end)
                           {
                               is_not_end = video.read(frame);

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

                               if (!frame.empty() && (num_frame % frame_skip == 0))
                               {
                                   // input the current frame and estimate the camera pose
                                   SLAM.feed_monocular_frame(frame, timestamp, mask);
                               }

                               const auto tp_2 = std::chrono::steady_clock::now();

                               const auto track_time = std::chrono::duration_cast<std::chrono::duration<double>>(tp_2 - tp_1).count();
                               if (num_frame % frame_skip == 0)
                               {
                                   track_times.push_back(track_time);
                               }

                               // wait until the timestamp of the next frame
                               if (!no_sleep)
                               {
                                   const auto wait_time = 1.0 / cfg->camera_->fps_ - track_time;
                                   if (0.0 < wait_time)