VOD-SLAM 复现
参考:https://www.mianshigee.com/project/halajun-VDO_SLAM/
下载:
git clone https://github.com/halajun/VDO_SLAM.git VDO-SLAM
CSparse 库安装
sudo apt-get install libsuitesparse-dev
解决:fatal error: opencv2/xfeatures2d.hpp: No such file or directory
把Frame.cc里面的
xfeatures2d.hpp改为features2d.hpp
// #include<opencv2/optflow.hpp>问题
直接注释掉,把函数换为下面的函数
cv::Mat readFlowFile(const std::string& fileName) {
cv::Mat flow;
std::ifstream file(fileName, std::ios::binary);
if (!file.is_open()) {
std::cerr << "Failed to open file: " << fileName << std::endl;
return flow;
}
int tag;
file.read((char*) &tag, sizeof(int));
int width, height;
file.read((char*) &width, sizeof(int));
file.read((char*) &height, sizeof(int));
flow.create(height, width, CV_32FC2);
for (int i = 0; i < height; ++i) {
for (int j = 0; j < width; ++j) {
float f[2];
file.read((char*) f, sizeof(float) * 2);
// float* data = flo.ptr<float>(i, j);
flow.at<cv::Vec2f>(i, j) = cv::Vec2f(f[0], f[1]);
}
}
file.close();
return flow;
}
AirDos 复现
下载:
git clone https://github.com/haleqiu/AirDOS.git
把ORB-SLAM2的ORBvoc.txt移动到VOcabulary中
编译
./build.sh
运行
按照对应文件的要求
例如:
./Examples/Stereo/stereo_kitti Vocabulary/ORBvoc.txt Examples/Stereo/KITTI00-02.yaml /media/ql/u1/Dataset/KITTI/dataset/sequences/00 ./Results/00.txt