将orbslam2 词袋改成二进制

ORBSLAM2 Win10 VS2017 二进制词袋修改_滥觞LanShang的博客-CSDN博客 

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版权声明：本文为CSDN博主「滥觞LanShang」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/weixin_45675146/article/details/121559964ORBSLAM2 Win10 VS2017 二进制词袋修改_滥觞LanShang的博客-CSDN博客

1. 下载二进制词袋   ORBvoc.bin  放在 orbsalm2   / Vocabulary 下

GitHub - nxyzgf/sgg-dbow2: Lib file of DBoW2 compiled by VS15 ORBvoc.binLib file of DBoW2 compiled by VS15 ORBvoc.bin. Contribute to nxyzgf/sgg-dbow2 development by creating an account on GitHub.https://github.com/nxyzgf/sgg-dbow22. 修改 DBOW2 文件夹里面  TemplatedVocabulary.h 文件修改两处内容

240 行左右

  /**
   * Loads the vocabulary from a text file
   * @param filename
   */
  bool loadFromTextFile(const std::string &filename);
//在这个位置
// 添加下面这一句
  bool loadFromBinaryFile(const std::string &filename);

1440 函数下面

在  1460 左右

添加这个

template<class TDescriptor, class F>
bool TemplatedVocabulary<TDescriptor, F>::loadFromBinaryFile(const std::string &filename) {
	fstream f;
	f.open(filename.c_str(), ios_base::in | ios::binary);
	unsigned int nb_nodes, size_node;
	f.read((char*)&nb_nodes, sizeof(nb_nodes));
	f.read((char*)&size_node, sizeof(size_node));
	f.read((char*)&m_k, sizeof(m_k));
	f.read((char*)&m_L, sizeof(m_L));
	f.read((char*)&m_scoring, sizeof(m_scoring));
	f.read((char*)&m_weighting, sizeof(m_weighting));
	createScoringObject();

	m_words.clear();
	m_words.reserve(pow((double)m_k, (double)m_L + 1));
	m_nodes.clear();
	m_nodes.resize(nb_nodes + 1);
	m_nodes[0].id = 0;
	char buf[size_node]; int nid = 1;
	while (!f.eof()) {
		f.read(buf, size_node);
		m_nodes[nid].id = nid;
		// FIXME
		const int* ptr = (int*)buf;
		m_nodes[nid].parent = *ptr;
		//m_nodes[nid].parent = *(const int*)buf;
		m_nodes[m_nodes[nid].parent].children.push_back(nid);
		m_nodes[nid].descriptor = cv::Mat(1, F::L, CV_8U);
		memcpy(m_nodes[nid].descriptor.data, buf + 4, F::L);
		m_nodes[nid].weight = *(float*)(buf + 4 + F::L);
		if (buf[8 + F::L]) { // is leaf
			int wid = m_words.size();
			m_words.resize(wid + 1);
			m_nodes[nid].word_id = wid;
			m_words[wid] = &m_nodes[nid];
		}
		else
			m_nodes[nid].children.reserve(m_k);
		nid += 1;
	}
	f.close();
	return true;
}

// --------------------------------------------------------------------------

3. System.cc 文件修改

65 行左右 修改为

    mpVocabulary = new ORBVocabulary();
    // bool bVocLoad = mpVocabulary->loadFromTextFile(strVocFile);
    bool bVocLoad = mpVocabulary->loadFromBinaryFile(strVocFile);
    if(!bVocLoad)
    {
        cerr << "Wrong path to vocabulary. " << endl;
        cerr << "Falied to open at: " << strVocFile << endl;
        exit(-1);
    }

4. 参考这个

如何将ORBSLAM2由终端运行改成vscode下运行_DidYouLearnSLAMToday的博客-CSDN博客

把里面

string voc_path = "/home/u1/ORB_SLAM2_debug/Vocabulary/ORBvoc.txt";  

的 txt 改成 bin