ORB_SLAM3环境搭建及demo演示

ORB_SLAM3环境搭建及demo演示

github：https://github.com/UZ-SLAMLab/ORB_SLAM3

本文教程部分参考：

https://www.ybliu.com/2020/07/ORB-SLAM3-demo.html

https://www.bilibili.com/video/BV1nR4y1W7mt?spm_id_from=333.880.my_history.page.click&vd_source=01da08e4487b8e450cf16063029887c6

安装依赖

编译前需要安装相关依赖，相关可以查看README，安装依赖都是

mkdir build
cd build
cmake ..
make -j8
sudo make install

注意README中有一个没有提到，也是需要安装的，是 Pangolin

Pangolin github: https://github.com/stevenlovegrove/Pangolin

可选安装依赖：https://github.com/IntelRealSense/librealsense

编译

下载源码后直接执行 ./build.bash

./build.bash文件中也就是一些编译执行指令

**注意：**由于编译内容众多，中间很可能会报错，这样建议手动执行build.bash一遍，然后默认的make核心比较少，可以自行改多一点

下载数据集：EuRoc

网址：https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

下载网址：https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets#downloads

注意下载ASL Dataset Format

可以直接选图中的链接下载，大约1.5G

下载后解压出来，改个名字，改成MH01，路径可以参考下面的图片

测试数据集

./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

在ORB_SLAM3根目录下执行上面代码，注意其中"$pathDatasetEuroc"/MH01是之前下载的数据集路径

如果是我上面那样的路径，代码就是

./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml /home/kt/data/Dataset/EuRoc/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

正常的输出：

num_seq = 1
file name: dataset-MH01_mono
Loading images for sequence 0...LOADED!

-------

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Monocular
Loading settings from ./Examples/Monocular/EuRoC.yaml
Camera1.k3 optional parameter does not exist...
	-Loaded camera 1
	-Loaded image info
	-Loaded ORB settings
Viewer.imageViewScale optional parameter does not exist...
	-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
	-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
	-Loaded misc parameters
----------------------------------
SLAM settings: 
	-Camera 1 parameters (Pinhole): [ 458.65399169921875 457.29598999023438 367.21499633789062 248.375 ]
	-Camera 1 distortion parameters: [  -0.28340810537338257 0.073959067463874817 0.00019359000725671649 1.7618711353861727e-05 ]
	-Original image size: [ 752 , 480 ]
	-Current image size: [ 600 , 350 ]
	-Camera 1 parameters after resize: [  365.94735717773438 333.44500732421875 292.99069213867188 181.10678100585938 ]
	-Sequence FPS: 20
	-Features per image: 1000
	-ORB scale factor: 1.2000000476837158
	-ORB number of scales: 8
	-Initial FAST threshold: 20
	-Min FAST threshold: 7


Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Initialization of Atlas from scratch 
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 
There are 1 cameras in the atlas
Camera 0 is pinhole
First KF:0; Map init KF:0
New Map created with 271 points

注意：如果没有报错，也没有图像输出，需要修改下源码：

找到mono_euroc.cc文件，修改第83行：ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);

讲false改成true就行了

别忘了重新编译，不然是不会生效的

输出结果