目录
1.遍历每一张图片进入追踪线程估计相机位姿
for(int ni=0; ni<nImages; ni++) { // Read left and right images from file imLeft = cv::imread(vstrImageLeft[ni],CV_LOAD_IMAGE_UNCHANGED); imRight = cv::imread(vstrImageRight[ni],CV_LOAD_IMAGE_UNCHANGED); double tframe = vTimestamps[ni]; if(imLeft.empty()) { cerr << endl << "Failed to load image at: " << string(vstrImageLeft[ni]) << endl; retu