modify stereo_kitti

Horacehxw · Apr 29, 2019 · 58cbde1 · 58cbde1
1 parent 0e5c923
commit 58cbde1
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Showing 44 changed files with 35 additions and 42 deletions.
diff --git a/Examples/Stereo/stereo_kitti.cc b/Examples/Stereo/stereo_kitti.cc
@@ -36,9 +36,9 @@ void LoadImages(const string &strPathToSequence, vector<string> &vstrImageLeft,
 
 int main(int argc, char **argv)
 {
-    if(argc != 4)
+    if(argc != 5 && argc != 6)
     {
-        cerr << endl << "Usage: ./stereo_kitti path_to_vocabulary path_to_settings path_to_sequence" << endl;
+        cerr << endl << "Usage: ./stereo_kitti path_to_vocabulary path_to_settings path_to_sequence target_name path_to_cnn_model" << endl;
         return 1;
     }
 
@@ -50,13 +50,21 @@ int main(int argc, char **argv)
 
     const int nImages = vstrImageLeft.size();
 
+    // path to load model
+    string model_path;
+    if (argc > 5) {
+        model_path = string(argv[5]);
+    }
+
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::STEREO,true);
+    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::STEREO,true, model_path);
 
     // Vector for tracking time statistics
     vector<float> vTimesTrack;
     vTimesTrack.resize(nImages);
 
+
+
     cout << endl << "-------" << endl;
     cout << "Start processing sequence ..." << endl;
     cout << "Images in the sequence: " << nImages << endl << endl;   
@@ -122,7 +130,7 @@ int main(int argc, char **argv)
     cout << "mean tracking time: " << totaltime/nImages << endl;
 
     // Save camera trajectory
-    SLAM.SaveTrajectoryKITTI("CameraTrajectory.txt");
+    SLAM.SaveTrajectoryKITTI(string(argv[4]));
 
     return 0;
 }

diff --git a/python/rgbd_benchmark_tools/.ipynb_checkpoints/TUM_trajectory_evaluation-checkpoint.ipynb b/python/rgbd_benchmark_tools/.ipynb_checkpoints/TUM_trajectory_evaluation-checkpoint.ipynb
diff --git a/results/s_half_Dyna0.txt → results/TUM_rgbd/s_half_Dyna0.txt b/results/s_half_Dyna0.txt → results/TUM_rgbd/s_half_Dyna0.txt
diff --git a/results/s_half_Dyna1.txt → results/TUM_rgbd/s_half_Dyna1.txt b/results/s_half_Dyna1.txt → results/TUM_rgbd/s_half_Dyna1.txt
diff --git a/results/s_half_Dyna2.txt → results/TUM_rgbd/s_half_Dyna2.txt b/results/s_half_Dyna2.txt → results/TUM_rgbd/s_half_Dyna2.txt
diff --git a/results/s_half_Dyna3.txt → results/TUM_rgbd/s_half_Dyna3.txt b/results/s_half_Dyna3.txt → results/TUM_rgbd/s_half_Dyna3.txt
diff --git a/results/s_half_Dyna4.txt → results/TUM_rgbd/s_half_Dyna4.txt b/results/s_half_Dyna4.txt → results/TUM_rgbd/s_half_Dyna4.txt
diff --git a/results/s_rpy_Dyna0.txt → results/TUM_rgbd/s_rpy_Dyna0.txt b/results/s_rpy_Dyna0.txt → results/TUM_rgbd/s_rpy_Dyna0.txt
diff --git a/results/s_rpy_Dyna1.txt → results/TUM_rgbd/s_rpy_Dyna1.txt b/results/s_rpy_Dyna1.txt → results/TUM_rgbd/s_rpy_Dyna1.txt
diff --git a/results/s_rpy_Dyna2.txt → results/TUM_rgbd/s_rpy_Dyna2.txt b/results/s_rpy_Dyna2.txt → results/TUM_rgbd/s_rpy_Dyna2.txt
diff --git a/results/s_rpy_Dyna3.txt → results/TUM_rgbd/s_rpy_Dyna3.txt b/results/s_rpy_Dyna3.txt → results/TUM_rgbd/s_rpy_Dyna3.txt
diff --git a/results/s_rpy_Dyna4.txt → results/TUM_rgbd/s_rpy_Dyna4.txt b/results/s_rpy_Dyna4.txt → results/TUM_rgbd/s_rpy_Dyna4.txt
diff --git a/results/s_rpy_ORB.txt → results/TUM_rgbd/s_rpy_ORB.txt b/results/s_rpy_ORB.txt → results/TUM_rgbd/s_rpy_ORB.txt
diff --git a/results/s_static_Dyna0.txt → results/TUM_rgbd/s_static_Dyna0.txt b/results/s_static_Dyna0.txt → results/TUM_rgbd/s_static_Dyna0.txt
diff --git a/results/s_static_Dyna1.txt → results/TUM_rgbd/s_static_Dyna1.txt b/results/s_static_Dyna1.txt → results/TUM_rgbd/s_static_Dyna1.txt
diff --git a/results/s_static_Dyna2.txt → results/TUM_rgbd/s_static_Dyna2.txt b/results/s_static_Dyna2.txt → results/TUM_rgbd/s_static_Dyna2.txt
diff --git a/results/s_static_Dyna3.txt → results/TUM_rgbd/s_static_Dyna3.txt b/results/s_static_Dyna3.txt → results/TUM_rgbd/s_static_Dyna3.txt
diff --git a/results/s_static_Dyna4.txt → results/TUM_rgbd/s_static_Dyna4.txt b/results/s_static_Dyna4.txt → results/TUM_rgbd/s_static_Dyna4.txt
diff --git a/results/s_xyz_Dyna0.txt → results/TUM_rgbd/s_xyz_Dyna0.txt b/results/s_xyz_Dyna0.txt → results/TUM_rgbd/s_xyz_Dyna0.txt
diff --git a/results/s_xyz_Dyna1.txt → results/TUM_rgbd/s_xyz_Dyna1.txt b/results/s_xyz_Dyna1.txt → results/TUM_rgbd/s_xyz_Dyna1.txt
diff --git a/results/s_xyz_Dyna2.txt → results/TUM_rgbd/s_xyz_Dyna2.txt b/results/s_xyz_Dyna2.txt → results/TUM_rgbd/s_xyz_Dyna2.txt
diff --git a/results/s_xyz_Dyna3.txt → results/TUM_rgbd/s_xyz_Dyna3.txt b/results/s_xyz_Dyna3.txt → results/TUM_rgbd/s_xyz_Dyna3.txt
diff --git a/results/s_xyz_Dyna4.txt → results/TUM_rgbd/s_xyz_Dyna4.txt b/results/s_xyz_Dyna4.txt → results/TUM_rgbd/s_xyz_Dyna4.txt
diff --git a/results/w_rpy_Dyna0.txt → results/TUM_rgbd/w_rpy_Dyna0.txt b/results/w_rpy_Dyna0.txt → results/TUM_rgbd/w_rpy_Dyna0.txt
diff --git a/results/w_rpy_Dyna1.txt → results/TUM_rgbd/w_rpy_Dyna1.txt b/results/w_rpy_Dyna1.txt → results/TUM_rgbd/w_rpy_Dyna1.txt
diff --git a/results/w_rpy_Dyna2.txt → results/TUM_rgbd/w_rpy_Dyna2.txt b/results/w_rpy_Dyna2.txt → results/TUM_rgbd/w_rpy_Dyna2.txt
diff --git a/results/w_rpy_Dyna3.txt → results/TUM_rgbd/w_rpy_Dyna3.txt b/results/w_rpy_Dyna3.txt → results/TUM_rgbd/w_rpy_Dyna3.txt
diff --git a/results/w_rpy_Dyna4.txt → results/TUM_rgbd/w_rpy_Dyna4.txt b/results/w_rpy_Dyna4.txt → results/TUM_rgbd/w_rpy_Dyna4.txt
diff --git a/results/w_static_Dyna0.txt → results/TUM_rgbd/w_static_Dyna0.txt b/results/w_static_Dyna0.txt → results/TUM_rgbd/w_static_Dyna0.txt
diff --git a/results/w_static_Dyna1.txt → results/TUM_rgbd/w_static_Dyna1.txt b/results/w_static_Dyna1.txt → results/TUM_rgbd/w_static_Dyna1.txt
diff --git a/results/w_static_Dyna2.txt → results/TUM_rgbd/w_static_Dyna2.txt b/results/w_static_Dyna2.txt → results/TUM_rgbd/w_static_Dyna2.txt
diff --git a/results/w_static_Dyna3.txt → results/TUM_rgbd/w_static_Dyna3.txt b/results/w_static_Dyna3.txt → results/TUM_rgbd/w_static_Dyna3.txt
diff --git a/results/w_static_Dyna4.txt → results/TUM_rgbd/w_static_Dyna4.txt b/results/w_static_Dyna4.txt → results/TUM_rgbd/w_static_Dyna4.txt
diff --git a/results/w_static_ORB.txt → results/TUM_rgbd/w_static_ORB.txt b/results/w_static_ORB.txt → results/TUM_rgbd/w_static_ORB.txt
diff --git a/results/w_xyz_Dyna0.txt → results/TUM_rgbd/w_xyz_Dyna0.txt b/results/w_xyz_Dyna0.txt → results/TUM_rgbd/w_xyz_Dyna0.txt
diff --git a/results/w_xyz_Dyna1.txt → results/TUM_rgbd/w_xyz_Dyna1.txt b/results/w_xyz_Dyna1.txt → results/TUM_rgbd/w_xyz_Dyna1.txt
diff --git a/results/w_xyz_Dyna2.txt → results/TUM_rgbd/w_xyz_Dyna2.txt b/results/w_xyz_Dyna2.txt → results/TUM_rgbd/w_xyz_Dyna2.txt
diff --git a/results/w_xyz_Dyna3.txt → results/TUM_rgbd/w_xyz_Dyna3.txt b/results/w_xyz_Dyna3.txt → results/TUM_rgbd/w_xyz_Dyna3.txt
diff --git a/results/w_xyz_Dyna4.txt → results/TUM_rgbd/w_xyz_Dyna4.txt b/results/w_xyz_Dyna4.txt → results/TUM_rgbd/w_xyz_Dyna4.txt
diff --git a/results/x_half_Dyna0.txt → results/TUM_rgbd/x_half_Dyna0.txt b/results/x_half_Dyna0.txt → results/TUM_rgbd/x_half_Dyna0.txt
diff --git a/results/x_half_Dyna1.txt → results/TUM_rgbd/x_half_Dyna1.txt b/results/x_half_Dyna1.txt → results/TUM_rgbd/x_half_Dyna1.txt
diff --git a/results/x_half_Dyna2.txt → results/TUM_rgbd/x_half_Dyna2.txt b/results/x_half_Dyna2.txt → results/TUM_rgbd/x_half_Dyna2.txt
diff --git a/results/x_half_Dyna3.txt → results/TUM_rgbd/x_half_Dyna3.txt b/results/x_half_Dyna3.txt → results/TUM_rgbd/x_half_Dyna3.txt
diff --git a/results/x_half_Dyna4.txt → results/TUM_rgbd/x_half_Dyna4.txt b/results/x_half_Dyna4.txt → results/TUM_rgbd/x_half_Dyna4.txt