| 4 | |
| 5 | |
| 6 | class H2Mapping: |
| 7 | def __init__(self, args): |
| 8 | self.args = args |
| 9 | # logger (optional) |
| 10 | self.logger = BasicLogger(args) |
| 11 | if not args.run_ros: |
| 12 | # data stream |
| 13 | self.data_stream = get_dataset(args) |
| 14 | else: |
| 15 | self.data_stream = None |
| 16 | # mapper |
| 17 | self.mapper = Mapping(args, self.logger, data_stream=self.data_stream) |
| 18 | # initialize map with first frame |
| 19 | self.update_pose = args.update_pose |
| 20 | if not args.run_ros: |
| 21 | self.firstframe = self.mapper.initfirst_onlymap() |
| 22 | else: |
| 23 | self.firstframe = None |
| 24 | |
| 25 | def run(self): |
| 26 | self.mapper.run(self.firstframe, update_pose=self.update_pose) |