add --viz flag

Author: panxkun

xrslam-pc/player/src/main.cpp

@@ -44,11 +44,12 @@ void GetShowElements() {
 
     SLAMData::Frame frame = SLAMData::Frame(cv::Mat(), intrinsics_v, pose_c_m);
 
-    viewer->data->update_frames({frame});
-    viewer->data->update_points(points);
-    viewer->data->update_poses(pose_c_m);
-    viewer->data->update_image(feature_tracker_cvimage);
-
+    if(viewer){
+        viewer->data->update_frames({frame});
+        viewer->data->update_points(points);
+        viewer->data->update_poses(pose_c_m);
+        viewer->data->update_image(feature_tracker_cvimage);
+    }
 }
 
 typedef std::tuple<double, XRSLAMAcceleration, XRSLAMGyroscope> IMUData;
@@ -68,6 +69,10 @@ int main(int argc, char *argv[]) {
         .help("Start playing immediately.")
         .default_value(false)
         .implicit_value(true);
+    program.add_argument("-v", "--viz")
+        .help("Visualization with GUI.")
+        .default_value(false)
+        .implicit_value(true);
     program.add_argument("input").help("input file");
     program.parse_args(argc, argv);
     std::string data_path = program.get<std::string>("input");
@@ -77,6 +82,7 @@ int main(int argc, char *argv[]) {
     std::string csv_output = program.get<std::string>("--csv");
     std::string tum_output = program.get<std::string>("--tum");
     bool isRunning = program.get<bool>("-p");
+    bool viz = program.get<bool>("-v");
 
     // create slam with configuration files
     void *yaml_config = nullptr;
@@ -104,8 +110,10 @@ int main(int argc, char *argv[]) {
     // outputs.emplace_back(std::make_unique<ConsoleTrajectoryWriter>());
     DatasetReader::NextDataType next_type;
 
-    viewer = std::make_shared<SLAMViewer>("XRSLAM PC", 1280, 720);
-    viewer->start();
+    if(viz){
+        viewer = std::make_shared<SLAMViewer>("XRSLAM PC", 1280, 720);
+        viewer->start();
+    }
 
     std::unique_ptr<xrslam::InspectPainter> feature_tracker_painter;
     feature_tracker_painter = std::make_unique<OpenCvPainter>(feature_tracker_cvimage);
@@ -130,7 +138,7 @@ int main(int argc, char *argv[]) {
         } break;
         case DatasetReader::CAMERA: {
 
-            {
+            if (viewer) {
                 auto &notifier = viewer->notifier;
                 std::unique_lock<std::mutex> lock(notifier->mtx);
                 notifier->cv.wait(lock, [&notifier] { return notifier->ready;});
@@ -168,7 +176,6 @@ int main(int argc, char *argv[]) {
         }
     }
 
-    sleep(99999);
     XRSLAMDestroy();
 
     return EXIT_SUCCESS;