def main(args):
# if args.dataset == 'kitti':
dataset = KITTIOdometry(args.path)
# elif args.dataset == 'vkitti':
# dataset = VKITTIOdometry(args.vkitti_path)
# else:
# return ValueError()
params = ParamsKITTI()
cam = Camera(
dataset.cam.fx, dataset.cam.fy, dataset.cam.cx, dataset.cam.cy,
dataset.cam.width, dataset.cam.height,
params.frustum_near, params.frustum_far,
dataset.cam.baseline)
tracker = Tracker(params, cam)
viewer = MapViewer(tracker, params)
if args.view_map:
viewer.load_points()
return
timer = RunningAverageTimer()
durations = []
try:
for i in range(len(dataset)):
j = i + 800
# Data loading takes 0.036s
left = dataset.left[j]
right = dataset.right[j]
print('track')
tracker.update(i, left, right, timestamp=dataset.timestamps[j])
print('update')
# Viewer update takes 0.002s
viewer.update(refresh=False)
print(f'Frame {j}')
# input("Press any key to continue...")
# import time
# time.sleep(2)
except:
pass
finally:
viewer.stop()
viewer.save_points()
t = Thread(target=featurer.extract)
t.start()
featurel.extract()
t.join()
frame = StereoFrame(i, g2o.Isometry3d(), featurel, featurer, cam, timestamp=timestamp)
if not sptam.is_initialized():
sptam.initialize(frame)
else:
sptam.track(frame)
duration = time.time() - time_start
durations.append(duration)
print('duration', duration)
print()
print()
if visualize:
viewer.update()
print('num frames', len(durations))
print('num keyframes', len(sptam.graph.keyframes()))
print('average time', np.mean(durations))
sptam.stop()
if visualize:
viewer.stop()