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test.cc
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test.cc
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#include<iostream>
#include<xratslam/Image.hh>
#include<xratslam/Odometry.hh>
#include<xratslam/XRatSlam.hh>
#include<xratslam/DataReaderVideo.hh>
using namespace std;
using namespace xratslam;
int main()
{
string configFile = "";
XRatSlam slam(configFile);
cout << "starting slam!" << endl;
slam.start();
DataReaderVideo vid("./test.mp4");
vid.setOdometryVisual(configFile);
Image *img;
Odometry *odo;
vid.readNext(&img, &odo);
int count = 0;
while (true) {
slam.feed(img, odo);
vid.readNext(&img, &odo);
if (img == 0) break;
count++;
if (count%200 == 0) {
cout << "Frame #" << count << " done!" << endl;
// Image *img_copy(img);
// (*img_copy).show("OpenCV window", 10);
//cout << "odometry time: " << odo->dTime << endl;
cout << "odometry's dPos: " << odo->dPosition << endl;
cout << "odometry's dAng: " << odo->dAngle << endl;
(*img).show("OpenCV window", 10);
}
}
cout << "FINISHED!" << endl;
return 0;
}