ORB-SLAM2：mono_kitti.cc

int main(int argc, char **argv)
{
    if(argc != 4)
    {
        cerr << endl << "Usage: ./mono_kitti path_to_vocabulary path_to_settings path_to_sequence" << endl;
        return 1;
    }
      // Retrieve paths to images
    vector<string> vstrImageFilenames;
    vector<double> vTimestamps;
    //讲单目数据集图片（也就是Frames）load进来，argv[3]是Frame的路径
    LoadImages(string(argv[3]), vstrImageFilenames, vTimestamps);
 
    int nImages = vstrImageFilenames.size();
 
    // Create SLAM system. It initializes all system threads and gets ready to process frames.
    //argv[1]为vocfile 里边存储的是词汇
    //argv[2]为settingfile 里边存储摄像机校准和畸变参数和ORB相关参数
    //这里创建了System类型的SLAM对象，SLAM构造函数中初始化了系统所有线程和相关参数，代码留待后边详细分析
    ORB_SLAM2::System SLAM(argv[1],argv[2],ORB_SLAM2::System::MONOCULAR,true);
 
    // 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;
 
    cv::Mat im;
    // Main loop 主循环代码，循环读取一帧一帧的图片
    for(int ni=0; ni<nImages; ni++)
    {
        // Read image from file 读取图片
        im = cv::imread(vstrImageFilenames[ni],CV_LOAD_IMAGE_UNCHANGED);
        //读取时间戳
        double tframe = vTimestamps[ni];
 
        if(im.empty())
        {
            cerr << endl << "Failed to load image at: " << vstrImageFilenames[ni] << endl;
            return 1;
        }
 
#ifdef COMPILEDWITHC11
        std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
#else
        std::chrono::monotonic_clock::time_point t1 = std::chrono::monotonic_clock::now();
#endif
 
        // Pass the image to the SLAM system 
        //将图片传给SLAM系统。TrackMonocular讲图片传给Tracking，其实Tracking就是系统的主线程。这里传入的im引起了系统的一系列操作
        SLAM.TrackMonocular(im,tframe);
 
#ifdef COMPILEDWITHC11
        std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();
#else
        std::chrono::monotonic_clock::time_point t2 = std::chrono::monotonic_clock::now();
#endif
 
        double ttrack= std::chrono::duration_cast<std::chrono::duration<double> >(t2 - t1).count();
 
        vTimesTrack[ni]=ttrack;
 
        // Wait to load the next frame
        double T=0;
        if(ni<nImages-1)
            T = vTimestamps[ni+1]-tframe;
        else if(ni>0)
            T = tframe-vTimestamps[ni-1];
 
        if(ttrack<T)
            usleep((T-ttrack)*1e6);
    }
 
    // Stop all threads 关闭SLAM系统，也就关闭了系统中的几个线程
    SLAM.Shutdown();
 
    // Tracking time statistics
    sort(vTimesTrack.begin(),vTimesTrack.end());
    float totaltime = 0;
    for(int ni=0; ni<nImages; ni++)
    {
        totaltime+=vTimesTrack[ni];
    }
    cout << "-------" << endl << endl;
    cout << "median tracking time: " << vTimesTrack[nImages/2] << endl;
    cout << "mean tracking time: " << totaltime/nImages << endl;
 
    // Save camera trajectory 
    // 整个SLAM系统运行完后，计算出来的是相机的运行轨迹，系统退出时保存相机轨迹
    SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");    
 
    return 0;
}
/**
 * 读入一帧帧的图像数据和时间戳数据
 * strPathToSequence 为入参，表示image文件存储的路径
 * vstrImageFilenames 为出参，存储获取image文件列表的具体路径
 * vTimestamps 为出参， 存储和每一个image文件对应的时间戳
 * 
*/
void LoadImages(const string &strPathToSequence, vector<string> &vstrImageFilenames, vector<double> &vTimestamps)
{
    ifstream fTimes;
    string strPathTimeFile = strPathToSequence + "/times.txt";
    fTimes.open(strPathTimeFile.c_str());
    while(!fTimes.eof())
    {
        string s;
        getline(fTimes,s);
        if(!s.empty())
        {
            stringstream ss;
            ss << s;
            double t;
            ss >> t;
            //vTimestamps中存入了所有的时间戳
            vTimestamps.push_back(t);
        }
    }
    //组装mono_kitti数据集中image_0目录的路径
    string strPrefixLeft = strPathToSequence + "/image_0/";
 
    const int nTimes = vTimestamps.size();
    vstrImageFilenames.resize(nTimes);
 
    for(int i=0; i<nTimes; i++)
    {
        stringstream ss;
        //std::setw ：需要填充多少个字符,默认填充的字符为' '空格
        //std::setfill：设置std::setw将填充什么样的字符，如:std::setfill('*')
        
        //ss总共为6位，i之外的前边几位用0来填充，得到的结果为000001 000099之类
        ss << setfill('0') << setw(6) << i;
        vstrImageFilenames[i] = strPrefixLeft + ss.str() + ".png";
    }
}

参考：https://blog.csdn.net/moyu123456789/article/details/90180635