Usage: ./stereo_tum_vi path_to_vocabulary path_to_settings path_to_image_folder1_1 path_to_image_folder2_1 path_to_times_file_1 (path_to_image_folder1_2 path_to_image_folder2_2 path_to_times_file_2 ... path_to_image_folder1_N path_to_image_folder2_N path_to_times_file_N) (trajectory_file_name)

这是一个用于双目相机的视觉惯导（Stereo TUM VI）SLAM系统的命令行使用方法。需要提供以下参数：

- `path_to_vocabulary`：词典文件的路径。
- `path_to_settings`：配置文件的路径。
- `path_to_image_folder1_1`：第一个相机图像文件夹的路径。
- `path_to_image_folder2_1`：第二个相机图像文件夹的路径。
- `path_to_times_file_1`：时间戳文件的路径，用于将图像与IMU数据进行时间同步。
- `(path_to_image_folder1_2 path_to_image_folder2_2 path_to_times_file_2 ... path_to_image_folder1_N path_to_image_folder2_N path_to_times_file_N)`：可选的额外数据集，用于多次运行系统并获得更好的结果。
- `(trajectory_file_name)`：可选的轨迹文件名，将系统估计的位姿写入该文件中。

其中，`path_to_vocabulary`和`path_to_settings`需要事先准备好。