视觉SLAM——ORB-SLAM3运行本地视频文件

一.采用D435i摄像头采集一段视频video.mp4

二.准备好两个文件:myvideo.yaml和myvideo.cpp

myvideo.yaml

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 614.3472290039062
Camera.fy: 613.3615112304688
Camera.cx: 314.36767578125
Camera.cy: 239.8182830810547

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.k3: 0.0

# Camera frames per second 
Camera.fps