ORB_SLAM2在win10中封装为.dll，实现小觅实时运行双目模式、罗技摄像头单目AR模式（1）

1. ORB_SLAM2在Win10平台的封装

参考

ORB-SLAM2应用练习：三维重建系统搭建 (1)

1.1 更改 ORB_SLAM2项目->属性->常规->WindowsSDK版本为当前VS使用的版本；依次设置配置类型为动态库.dll和静态库.lib，设置编译模式为Release X64，点击生成->编译，生成对应的库文件。

1.2 新建工程，命名为3DRestruct，新建文件夹3rd，3rd/lib，3rd/include，将生成的.lib和.dll放在3rd/lib下，将SLAM.h放在3rd/include下。

1.3 点击视图->其他窗口->属性管理器，右键点击Release|x64->添加现有属性表，添加ORB_SLAM2依赖库。点击依赖库的属性，修改VC++目录中的包含目录和库目录。

1.4 右键项目->属性->VC++目录->包含目录，添加./3rd/include；当前对话窗口->链接器->输入->附加依赖项，添加./3rd/lib/ORB-SLAM.lib；项目->属性->调试->环境，输入

path=xxx/DBoW2/lib/;xxx/g2o/lib/;xxx/Pangolin/lib/;xxx/OpenCV3_1/opencv/build/x64/vc14/bin/;$(ProjectDir)/3rd/lib/;

尤其是最后的$(ProjectDir)/3rd/lib/;，是用来配置ORB-SLAM2动态库的路径。

1.5 编译模式为Release|x64，创建main.cpp（其实就是稍微改动了ORB-SLAM2/Example/stereo/kitti_stereo.cc）,需要具备KITTI/xx数据。

#include <SLAM.h>
#include<chrono>
#include<windows.h>
#include<fstream>
#include<iomanip>
using namespace std;
void LoadImages(const string &strPathToSequence, vector<string> &vstrImageLeft,
	vector<string> &vstrImageRight, vector<double> &vTimestamps);

int main()
{
	// Retrieve paths to images
	vector<string> vstrImageLeft;
	vector<string> vstrImageRight;
	vector<double> vTimestamps;
	LoadImages("C:/Users/zhang/Desktop/03", vstrImageLeft, vstrImageRight, vTimestamps);

	const int nImages = vstrImageLeft.size();

	// Create SLAM system. It initializes all system threads and gets ready to process frames.	
	slam.init("C:/Users/zhang/Desktop/try/ORB-SLAM2-2/ORB-SLAM2/Run/Vocabulary/ORBvoc.txt", "C:/Users/zhang/Desktop/try/ORB-SLAM2-2/ORB-SLAM2/Run/Setting/KITTI03.yaml", SLAM::eSensor::STEREO);

	// Vector for tracking time statistics
	vector<float> vTimesTrack;
	vTimesTrack.resize(nImages);

	cout << endl << "-------" << endl;
	cout << "Start processing sequence ..." << endl;
	cout << "Images in the sequence: " << nImages << endl << endl;

	// Main loop
	cv::Mat imLeft, imRight;
	for (int ni = 0; ni < nImages; ni++)
	{
		// Read left and right images from file
		imLeft = cv::imread(vstrImageLeft[ni], CV_LOAD_IMAGE_UNCHANGED);
		imRight = cv::imread(vstrImageRight[ni], CV_LOAD_IMAGE_UNCHANGED);
		double tframe = vTimestamps[ni];

		if (imLeft.empty())
		{
			cerr << endl << "Failed to load image at: "
				<< string(vstrImageLeft[ni]) << endl;
			return 1;
		}

		std::chrono::steady_clock::time_point t1 = std::chrono::steady_clock::now();
		
		slam.track(imLeft, imRight);

		std::chrono::steady_clock::time_point t2 = std::chrono::steady_clock::now();

		double ttrack = std::chrono::duration_cast<std::chrono::duration<double>>(t2 - t1).count();

		vTimesTrack[ni] = ttrack;

		// Wait to load the next frame
		double T = 0;
		if (ni < nImages - 1)
			T = vTimestamps[ni + 1] - tframe;
		else if (ni > 0)
			T = tframe - vTimestamps[ni - 1];

		if (ttrack < T)
			Sleep((T - ttrack)*1e3);  //Linux下#include<unistd.h>调用Usleep为微秒，Win10下#include<windows.h>调用Sleep为毫秒。
	}

	// Stop all threads即调用SLAM库中的析构函数，不用显示调用

	// Tracking time statistics
	sort(vTimesTrack.begin(), vTimesTrack.end());
	float totaltime = 0;
	for (int ni = 0; ni < nImages; ni++)
	{
		totaltime += vTimesTrack[ni];
	}
	cout << "-------" << endl << endl;
	cout << "median tracking time: " << vTimesTrack[nImages / 2] << endl;
	cout << "mean tracking time: " << totaltime / nImages << endl;

	return 0;
}

void LoadImages(const string &strPathToSequence, vector<string> &vstrImageLeft,
	vector<string> &vstrImageRight, vector<double> &vTimestamps)
{
	ifstream fTimes;
	string strPathTimeFile = strPathToSequence + "/times.txt";
	fTimes.open(strPathTimeFile.c_str());
	while (!fTimes.eof())
	{
		string s;
		getline(fTimes, s);
		if (!s.empty())
		{
			stringstream ss;
			ss << s;
			double t;
			ss >> t;
			vTimestamps.push_back(t);
		}
	}

	string strPrefixLeft = strPathToSequence + "/image_0/";
	string strPrefixRight = strPathToSequence + "/image_1/";

	const int nTimes = vTimestamps.size();
	vstrImageLeft.resize(nTimes);
	vstrImageRight.resize(nTimes);

	for (int i = 0; i < nTimes; i++)
	{
		stringstream ss;
		ss << setfill('0') << setw(6) << i;
		vstrImageLeft[i] = strPrefixLeft + ss.str() + ".png";
		vstrImageRight[i] = strPrefixRight + ss.str() + ".png";
	}
}

点击运行，就可以观察到数据库离线跑ORB_SLAM的界面啦！如果不行，报错缺少某个依赖库，就把该.dll放到项目的生成目录下即可。