orb-slam3 TUM_VI样例测试

已于 2022-03-09 21:17:46 修改
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orb-slam3 TUM_VI样例测试

我没在官方源码里面找到tum_vi_examples.sh 文件，自己下载的

修改两个地方
1、第二行的path，改成自己的就行

pathDatasetTUM_VI='/home/syj/slam/ORB_SLAM3/datasets/tum_vi'

2.直接执行报个错，找不到TUM_512, 解决方法：
将

ORB_SLAM3/Examples/Stereo-Inertial/TUM_VI.yaml

文件改个名字即可 TUM_VI -> TUM_512

#!/bin/bash
pathDatasetTUM_VI='/home/syj/slam/ORB_SLAM3/datasets/tum_vi' #Example, it is necesary to change it by the dataset path

#------------------------------------
# Monocular Examples
echo "Launching Room 1 with Monocular sensor"
./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_mono

echo "Launching Room 2 with Monocular sensor"
./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room2_512.txt dataset-room2_512_mono

echo "Launching Room 3 with Monocular sensor"
./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room3_512.txt dataset-room3_512_mono

echo "Launching Room 4 with Monocular sensor"
./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room4_512.txt dataset-room4_512_mono

echo "Launching Room 5 with Monocular sensor"
./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room5_512.txt dataset-room5_512_mono

echo "Launching Room 6 with Monocular sensor"
./Examples/Monocular/mono_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data Examples/Monocular/TUM_TimeStamps/dataset-room6_512.txt dataset-room6_512_mono


#------------------------------------
# Stereo Examples
echo "Launching Room 1 with Stereo sensor"
./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_stereo

echo "Launching Room 2 with Stereo sensor"
./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room2_512.txt dataset-room2_512_stereo

echo "Launching Room 3 with Stereo sensor"
./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room3_512.txt dataset-room3_512_stereo

echo "Launching Room 4 with Stereo sensor"
./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room4_512.txt dataset-room4_512_stereo

echo "Launching Room 5 with Stereo sensor"
./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room5_512.txt dataset-room5_512_stereo

echo "Launching Room 6 with Stereo sensor"
./Examples/Stereo/stereo_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam1/data Examples/Stereo/TUM_TimeStamps/dataset-room6_512.txt dataset-room6_512_stereo


#------------------------------------
# Monocular-Inertial Examples
echo "Launching Corridor 1 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor1_512.txt dataset-corridor1_512_monoi

echo "Launching Corridor 2 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor2_512.txt dataset-corridor2_512_monoi

echo "Launching Corridor 3 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor3_512.txt dataset-corridor3_512_monoi

echo "Launching Corridor 4 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor4_512.txt dataset-corridor4_512_monoi

echo "Launching Corridor 5 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-corridor5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-corridor5_512.txt dataset-corridor5_512_monoi


echo "Launching Magistrale 1 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale1_512.txt dataset-magistrale1_512_monoi

echo "Launching Magistrale 2 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale2_512.txt dataset-magistrale2_512

echo "Launching Magistrale 3 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale3_512.txt dataset-magistrale3_512_monoi

echo "Launching Magistrale 4 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale4_512.txt dataset-magistrale4_512_monoi

echo "Launching Magistrale 5 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale5_512.txt dataset-magistrale5_512_monoi

echo "Launching Magistrale 6 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-magistrale6_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-magistrale6_512.txt dataset-magistrale6_512_monoi


echo "Launching Outdoor 1 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors1_512.txt dataset-outdoors1_512_monoi

echo "Launching Outdoor 2 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors2_512.txt dataset-outdoors2_512_monoi

echo "Launching Outdoor 3 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors3_512.txt dataset-outdoors3_512_monoi

echo "Launching Outdoor 4 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors4_512.txt dataset-outdoors4_512_monoi

echo "Launching Outdoor 5 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors5_512.txt dataset-outdoors5_512_monoi

echo "Launching Outdoor 6 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors6_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors6_512.txt dataset-outdoors6_512_monoi

echo "Launching Outdoor 7 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors7_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors7_512.txt dataset-outdoors7_512_monoi

echo "Launching Outdoor 8 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512_far.yaml "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-outdoors8_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-outdoors8_512.txt dataset-outdoors8_512_monoi


echo "Launching Room 1 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_monoi

echo "Launching Room 2 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room2_512.txt dataset-room2_512_monoi

echo "Launching Room 3 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room3_512.txt dataset-room3_512_monoi

echo "Launching Room 4 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_monoi

echo "Launching Room 5 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room5_512.txt dataset-room5_512_monoi

echo "Launching Room 6 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room6_512.txt dataset-room6_512_monoi


echo "Launching Slides 1 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-slides1_512_monoi

echo "Launching Slides 2 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides2_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-slides2_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-slides2_512.txt dataset-slides2_512_monoi

echo "Launching Slides 3 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides3_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-slides3_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-slides3_512.txt dataset-slides3_512_monoi


# MultiSession Monocular Examples
echo "Launching Room 1, Magistrale 1, Magistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-room1_mag1_mag5_slides1_monoi

echo "Launching all Rooms (1-6) in the same session with Stereo-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-rooms123456_monoi

#------------------------------------
# Stereo-Inertial Examples
echo "Launching Corridor 1 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor1_512.txt dataset-corridor1_512_stereoi

echo "Launching Corridor 2 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor2_512.txt dataset-corridor2_512_stereoi

echo "Launching Corridor 3 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor3_512.txt dataset-corridor3_512_stereoi

echo "Launching Corridor 4 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor4_512.txt dataset-corridor4_512_stereoi

echo "Launching Corridor 5 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-corridor5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-corridor5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-corridor5_512.txt dataset-corridor5_512_stereoi


echo "Launching Magistrale 1 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt dataset-magistrale1_512_stereoi

echo "Launching Magistrale 2 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale2_512.txt dataset-magistrale2_512_stereoi

echo "Launching Magistrale 3 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale3_512.txt dataset-magistrale3_512_stereoi

echo "Launching Magistrale 4 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale4_512.txt dataset-magistrale4_512_stereoi

echo "Launching Magistrale 5 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt dataset-magistrale5_512_stereoi

echo "Launching Magistrale 6 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale6_512.txt dataset-magistrale6_512_stereoi


echo "Launching Outdoor 1 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors1_512.txt outdoors1_512_stereoi

echo "Launching Outdoor 2 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors2_512.txt outdoors2_512_stereoi

echo "Launching Outdoor 3 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors3_512.txt outdoors3_512

echo "Launching Outdoor 4 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors4_512.txt outdoors4_512

echo "Launching Outdoor 5 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors5_512.txt outdoors5_512_stereoi

echo "Launching Outdoor 6 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors6_512.txt outdoors6_512_stereoi

echo "Launching Outdoor 7 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors7_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors7_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors7_512.txt outdoors7_512_stereoi

echo "Launching Outdoor 8 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512_outdoors.yaml "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-outdoors8_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-outdoors8_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-outdoors8_512.txt outdoors8_512_stereoi


echo "Launching Room 1 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_stereoi

echo "Launching Room 2 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt dataset-room2_512_stereoi

echo "Launching Room 3 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt dataset-room3_512_stereoi

echo "Launching Room 4 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_stereoi

echo "Launching Room 5 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt dataset-room5_512_stereoi

echo "Launching Room 6 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-room6_512_stereoi


echo "Launching Slides 1 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-slides1_512_stereoi

echo "Launching Slides 2 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides2_512.txt dataset-slides2_512_stereoi

echo "Launching Slides 3 with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-slides3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides3_512.txt dataset-slides3_512_stereoi


# MultiSession Stereo-Inertial Examples
echo "Launching Room 1, Magistrale 1, Magistrale 5 and Slides 1 in the same session with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale1_512.txt "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-magistrale5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-magistrale5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-magistrale5_512.txt "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-slides1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-slides1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-slides1_512.txt dataset-room1_mag1_mag5_slides1_stereoi

echo "Launching all Rooms (1-6) in the same session with Stereo-Inertial sensor"
./Examples/Stereo-Inertial/stereo_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room1_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room1_512.txt "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room2_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room2_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room2_512.txt "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room3_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room3_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room3_512.txt "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room4_512.txt "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room5_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room5_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room5_512.txt "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam0/data "$pathDatasetTUM_VI"/dataset-room6_512_16/mav0/cam1/data Examples/Stereo-Inertial/TUM_TimeStamps/dataset-room6_512.txt Examples/Stereo-Inertial/TUM_IMU/dataset-room6_512.txt dataset-rooms123456_stereoi
SLAM精度测评（绘制比较相机轨迹）- EVO
惊鸿一博
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目录 1.EVO安装 2.数据格式(data formal):TUM/EuRoC/Kitti数据集​ 3数据格式转换 3.1"把EuRoc的数据格式转化成TUM数据格式" 3.2"TUM数据转换成kitti格式" 3.3"TUM数据转换成kitti格式" 4.evo使用 4.1Plot multiple trajectories 4.2 Run a metric on trajectories 4.2.1 evo_ape 4.2.2 evo_rpe ...
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ORB-SLAM3算法1 已成功编译安装ORB-SLAM3到本地，本篇目的是用TUM-VI开源数据来运行ORB-SLAM3，并生成轨迹，最后用自带的evaluate_ate_scale验证轨迹。
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04-24
两种方法跑： 1：不在ROS跑，按照官网的步骤来就没问题很顺利，值得一说的是yaml文件是用来存相机标定结果的。association文件用它的python脚本文件就行。 2：用ROS跑，麻烦大了，首先数据需要是bag类型的。那最关键的是后面的输入参数的形式：见我的博客。
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weixin_45678627的博客
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使用MH-05数据运行案例：mono_inertial_tum_vi.cc ./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml /home/mol/study/SLAM/Datasets ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH05.txt 首先对代码进行详细的解读，并加注
ubuntu18安装ORB-SLAM3并跑通TUM数据集
Zzzhzzzz的博客
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#笔记本配置：i7 10750H+nvidia1650+ubuntu18.04.05 #软件与更新中换源 阿里云；显卡驱动为470版本 主要参考教程：https://blog.csdn.net/jihaoweizzz/article/details/109824857 1.源码安装eigen3.3.9 2.源码安装Pangolin v0.6 3.opencv3.4.5 libjasper.dev找不到的话：google到解决办法，复制到这里 sudo add-apt-repository "d...
ORB-SLAM3 一张图梳理rgbd_tum.cc主流程
惊鸿一博
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Ubuntu 18.04安装ORB-SLAM3＋ROS跑通TUM数据集
2301_78468142的博客
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注意路径：第一部分是可执行文件，第二部分是ORB词袋，第三部分是配置文件（在这里更改自己相机的参数），第四部分是数据文件存放所在的文件夹，第五部分是RGB和深度图像的时间戳文件。下列步骤是可选择的，若ROS自带的opencv可以满足编译要求，则不需要执行以下步骤，本次项目中opencv4.2可以满足编译需求。作用：ORB-SLAM3在ROS的cv-bridge数据格式转换和C++的库。记得顺便安装下rosdep，后续编译ORB-SLAM3的ROS版会有用。在编译ros版本时候需要初始化ROS。
[学习SLAM]ORB-SLAM3
开源节流
07-30 1957
原论文：ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAMCarlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M. M. Montiel, Juan D. TardósarXiv:2007.11898 代码开源地址：https://github.com/UZ-SLAMLab/ORB_SLAM3 YouTube
【ORB-SLAM3】Ubuntu20.04 编译 ORM-SLAM3 并使用 D435i、EuRoC 和 TUM-VI 运行测试
G.Chenhui的博客
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ORB-SLAM3 GitHub 链接: Link在 ORB-SLAM3 的 CMakeLists.txt 中会有检查，如果不满足会有报错。这里我选择安装的是 Pangolin v0.6，下载链接: Link 如果有报错：，则 安装 Pangolin v0.6 1.3 OpenCV 这里我选择安装的是 OpenCV 4.4.0 + OpenCV_Contrib 4.4.0 1.4 Eigen3 这里我选择安装的是 Eigen 3.3.0，下载链接: Link 2 安装 Intel® RealSen
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05-15
图像失真校正 用于TUM视觉惯性数据集的OpenCV Python的图像不失真示例 相机几何模型 （参考： : ） 几何校准使用了两个关键参数： 本征模型 变形模型 相机型号 全向 全向摄像机模型（omni）（本征矢量：[xi fu fv pu pv]） 内在向量包含模型的所有参数： fu，fv：焦距 pu，pv：主点 xi：镜像参数（仅全向） K = fu fu*cot(xi) pu 0 fv pv 0 0 1 针Kong 针Kong相机模型（针Kong）（本征矢量：[fu fv pu pv]） K = fu 0 pu 0 fv pv 0 0 1 失真模型 等距（equi）（distortion_coeffs：[k1 k2 k3 k4]） 校准前（pinhole
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04-20
ORB_SLAM3 官方标定文档中文版知识点 ...ORB_SLAM3 提供了多个标定文件示例，包括 Euroc.yaml、TUM_VI_512.yaml 和 Realsense_D435i.yaml 等。这些示例展示了如何编写标定文件，并提供了相机和惯性传感器的参数。
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本篇目的是用TUM开源数据来运行ORB-SLAM2，并生成轨迹，最后用evo评估工具来评估ORB-SLAM2生成的轨迹和真值轨迹。
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ORB-SLAM3算法1 已成功编译安装ORB-SLAM3到本地，本篇目的是用EuRoc开源数据来运行ORB-SLAM3，并生成轨迹，最后用evo评估工具来评估ORB-SLAM3生成的轨迹和真值轨迹。
ORB-SLAM3整体流程详解
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lovely_yoshino的博客
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在之前，作者曾经转过一篇《》的文章。那篇文章中提到了ORB-SLAM3是一个支持视觉、视觉加惯导、混合地图的SLAM系统，可以在单目，双目和RGB-D相机上利用针孔或者鱼眼模型运行。与ORB-SLAM2相比，ORB-SLAM3在处理大视差和长时间未观测到的场景时效果更好。它还提供了更准确的帧间运动估计和更快的处理速度。此外，ORB-SLAM3还支持更多的传感器，包括RGB-D摄像头和车载LIDAR。ORB-SLAM3的代码结构也比ORB-SLAM2更加简洁，使得它更容易理解和扩展。
论文学习---The TUM VI Benchmark for Evaluating Visual-Inertial Odometry
wxm__的博客
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目的 参考论文：The TUM VI Benchmark for Evaluating Visual-Inertial Odometry 本文介绍用Mocap系统来采集VIO数据集过程中的相关标定过程。 传感器 如下图所示，采集设备包含双目RGB相机+IMU。IMU和两个相机刚性连接，几个红外小球可以被MoCap系统进行运动跟踪。为了标定传感器之间的内参和外参，需要采用AprilTag板。其中，AprilTag板和MoCap参考世界坐标系之间的相对位姿固定。 左图显示了所有涉及到的坐标系。 相机 全局曝光
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前言 做SLAM或是CV方向的应该大都接触过TUM提供的各种数据集，如RGBD数据集、单目数据集等。最近TUM发布了关于VIO即视觉惯性状态估计的对应数据集，成为了继飞行数据集EuRoc、MAV、车辆数据集Kitti等之后的又一个常用大型数据集。 本博客将就其数据集的论文《The TUM VI Benchmark for Evaluating Visual-Inertial Odometry》对T...
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极客园地
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在ORB-SLAM3运行EuRoC和TUM-VI数据集并作以评价。EuRoC利用微型飞行器(MAV ) 收集的视觉惯性数据集，TUM-VI 是由实验人员手持视觉-惯性传感器收集的数据集。这两个是在视觉SLAM中比较常用的公开数据集，所以测试并加以记录。
鱼香ros orb-slam3
最新发布
01-17
### 关于ROS与ORB-SLAM3的相关资料和教程 对于希望深入了解并实践ROS与ORB-SLAM3集成应用的研究者而言，获取高质量的学习资源至关重要。以下是关于如何寻找这些资源以及一些具体推荐的内容。 #### 寻找官方文档和支持社区 官方文档通常是学习任何软件工具的第一站。ORB-SLAM3及其前身ORB-SLAM系列均提供了详细的README文件说明安装过程、依赖项设置及基本使用指南[^1]。此外，GitHub页面上的Issues部分可以作为解决常见问题的有效途径；许多开发者会在那里分享解决方案和个人经验。 #### 推荐在线课程与书籍 网络上存在大量专注于SLAM技术特别是基于视觉的同时定位与地图构建(V-SLAM)的教育材料。Coursera, edX等平台提供由知名高校开设的相关专项课程，涵盖了理论基础到实际编程练习等多个层面的知识传授。同时，《Probabilistic Robotics》一书也被广泛认为是理解机器人学中概率模型的重要参考资料之一，在其中也能找到有关V-SLAM算法实现原理的深入探讨。 #### 开源项目实例分析 通过研究开源项目的代码结构可以帮助加深对框架内部机制的理解。例如，TUM VI Dataset不仅包含了丰富的实验数据集用于验证不同版本ORB-SLAM的效果，还附带了完整的ROS节点示例来展示如何将该库应用于真实场景中的多传感器融合任务当中[^4]。 #### 社区交流论坛 活跃的技术讨论群组如Stack Overflow、Reddit下的r/robotics板块或是专门针对中国用户的知乎专栏都是不可忽视的信息宝库。在这里不仅可以提问求助还能与其他爱好者共同进步成长。 ```bash # 启动 ORB_SLAM3 的 Stereo 节点(双目) rosrun ORB_SLAM3 Stereo \ /home/user/path_to_vocab/ORBVocabulary.bin \ /home/user/path_to_config/config.yaml \ /home/user/path_to_rosbag/rosbag_file.bag ```
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