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()
from params import ParamsKITTI, ParamsEuroc
from dataset import KITTIOdometry, EuRoCDataset
parser = argparse.ArgumentParser()
parser.add_argument('--no-viz', action='store_true', help='do not visualize')
parser.add_argument('--dataset', type=str, help='dataset (KITTI/EuRoC)',
default='KITTI')
parser.add_argument('--path', type=str, help='dataset path',
default='path/to/your/KITTI_odometry/sequences/00')
parser.add_argument('--output', type=str, help='storing output values')
args = parser.parse_args()
if args.dataset.lower() == 'kitti':
params = ParamsKITTI()
dataset = KITTIOdometry(args.path)
elif args.dataset.lower() == 'euroc':
params = ParamsEuroc()
dataset = EuRoCDataset(args.path)
sptam = SPTAM(params)
visualize = not args.no_viz
if visualize:
from viewer import MapViewer
viewer = MapViewer(sptam, params)
cam = Camera(
dataset.cam.fx, dataset.cam.fy, dataset.cam.cx, dataset.cam.cy,
dataset.cam.width, dataset.cam.height,