params.frustum_near, params.frustum_far,
dataset.cam.baseline)
durations = []
for i in range(len(dataset)):
featurel = ImageFeature(dataset.left[i], params)
featurer = ImageFeature(dataset.right[i], params)
timestamp = dataset.timestamps[i]
time_start = time.time()
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()
cam = Camera(dataset.cam.fx, dataset.cam.fy, dataset.cam.cx,
dataset.cam.cy, width, height, dataset.cam.scale,
params.virtual_baseline, params.depth_near, params.depth_far,
params.frustum_near, params.frustum_far)
durations = []
for i in range(len(dataset))[:]:
feature = ImageFeature(dataset.rgb[i], params)
depth = dataset.depth[i]
if dataset.timestamps is None:
timestamp = i / 20.
else:
timestamp = dataset.timestamps[i]
time_start = time.time()
feature.extract()
frame = RGBDFrame(i,
g2o.Isometry3d(),
feature,
depth,
cam,
timestamp=timestamp)
if not ptam.is_initialized():
ptam.initialize(frame)
else:
ptam.track(frame)
duration = time.time() - time_start
durations.append(duration)