目录
2.SegmentDynObject::SegmentDynObject方法
3. SegmentDynObject::GetSegmentation
1.执行例程rgbd_tum
/home/lhwnb/Desktop/slam/DynaSLAM/Examples/RGB-D/rgbd_tum /home/lhwnb/Desktop/slam/DynaSLAM/Vocabulary/ORBvoc.txt /home/lhwnb/Desktop/slam/DynaSLAM/Examples/RGB-D/TUM1.yaml /home/lhwnb/Desktop/slam/DynaSLAM/dataset/rgbd_dataset_freiburg1_xyz/ /home/lhwnb/Desktop/slam/DynaSLAM/dataset/assciation.txt /home/lhwnb/Desktop/slam/DynaSLAM/dataset/mask/ /home/lhwnb/Desktop/slam/DynaSLAM/dataset/output/
执行例程的时候输入到CLion中的程序实参是这样的:
分别对应着RGB例程的可执行文件、ORB字典的路径、相机的配置文件、数据集、深度图和RGB图的对齐文件、mask目录(可选)、output目录(可选)。
如果不指定mask目录和output目录,则程序的执行和ORB-SLAM2无区别。
通过LoadImage函数将RGB图像读入vstr