ORB-SLAM2运行自己的数据集

ORB-SLAM2运行自己的数据集（视频）

参考链接
参考链接

1. 在ORB-SLAM2文件夹建立下面的两个文件:

myvideo.yaml
myvideo.cpp

2. 新建myvideo.yaml

cd ORB_SLAM2    
gedit myvideo.yaml

输入以下代码：

%YAML:1.0
 
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
 
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 500.0
Camera.fy: 500.0
Camera.cx: 320.0
Camera.cy: 240.0
 
Camera.k1: 0
Camera.k2: 0
Camera.p1: 0
Camera.p2: 0
Camera.k3: 0
 
# Camera frames per second
Camera.fps: 30.0
 
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 0
 
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
 
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000
 
# ORB Extractor: Scale factor between levels in the scale pyramid     
ORBextractor.scaleFactor: 1.2
 
# ORB Extractor: Number of levels in the scale pyramid    
ORBextractor.nLevels: 8
 
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast            
ORBextractor.iniThFAST: 10
ORBextractor.minThFAST: 5
 
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize: 2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

3. 新建myvideo.cpp

cd ORB-SLAM2
gedit myvideo.cpp

输入以下代码：

#include <opencv2/opencv.hpp>
#include "System.h"
#include <string>
#include <chrono>   // for time stamp
#include <iostream>
using namespace std;
// 参数文件与字典文件
// 如果你系统上的路径不同，请修改它
string parameterFile = "./myvideo.yaml";
string vocFile = "./Vocabulary/ORBvoc.txt";
// 视频文件
string videoFile = "./myvideo.mp4";
int main(int argc, char **argv) {
 // 声明 ORB-SLAM2 系统
    ORB_SLAM2::System SLAM(vocFile, parameterFile, ORB_SLAM2::System::MONOCULAR, true);
 // 获取视频图像
  cv::VideoCapture cap(videoFile);    // change to 0 if you want to use USB camera.
  // 记录系统时间
  auto start = chrono::system_clock::now();

while (1) {
        cv::Mat frame;
        cap >> frame;   // 读取相机数据

        if ( frame.data == nullptr )
            continue;
        // rescale because image is too large
        cv::Mat frame_resized;
        cv::resize(frame, frame_resized, cv::Size(640,360));
        auto now = chrono::system_clock::now();
        auto timestamp = chrono::duration_cast<chrono::milliseconds>(now - start);
        SLAM.TrackMonocular(frame_resized, double(timestamp.count())/1000.0);
        cv::waitKey(30);
    }
    return 0;


}

4. 修改CMakeLists.txt
   打开ORB-SLAM2里的CMakeLists.txt，添加下面的代码：

#生成调用myvideo.mp4 可执行文件
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR})
add_executable(myvideo myvideo.cpp)
target_link_libraries(myvideo ${PROJECT_NAME})

5. 编译运行

cd ORB_SLAM2
mkdir build
cd build
cmake ..
make -j
cd ..
./myvideo  #(执行)

之后对myvideo.cpp进行修改后都要再次编译才能运行。