This Programm is used to get sequences for ORB_SLAM running from a Video or directly capture frames from laptop's camera. (Mode 1 is for Video cutting and Mode 0 capture frames from camera)
The Sequences will be saved to the files that ORB_SLAM can directly run, with a sequence and a txt file.
Since ORB_SLAM cam't determine the real world-frame and orintation, this is a way to estimate the world-basis from the ORB_SLAM Data(which could e saved with https://github.com/TianlunHu/My-ORB-SLAM ).
The real world frame could be recoverd if there are enough 3D points' coordinates on the objects that stand vertical or horizontal to the ground.
In this case, straight lines in every frame of ORB_SLAM could be detected with improved-Hough-Line-Detector. 'improved' means only the key points in frames are taken in count, and also some keypoints near to the line.
With corespended 3D-mappoints, SVD could be applied to solve the direction that most points indicate. And this could be regard as an estimation od the World-Basis. (The accuracy of this method also depend on how many othogonal lines are detected )
This implements a methode to recover the 3D motion trajectory from ORB_SLAM DATA i.e Position Vector, Quaternion or Camera matrix.
