运行ORB-SLAM3，整体感觉还不错

安装文档，可以参考
https://blog.csdn.net/u014374826/article/details/132013820

运行测试

双目+IMU

可以参考官方文档
Running ROS example: Download a rosbag (e.g. V1_02_medium.bag) from the EuRoC dataset (http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets). Open 3 tabs on the terminal and run the following command at each tab for a Stereo-Inertial configuration:

roscore

rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/EuRoC.yaml true

rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu

双目

其实也是参考上面

roscore

rosrun ORB_SLAM3 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true

rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu

单目+IMU

roscore

rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/EuRoC.yaml true

rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/image_raw /imu0:=/imu

单目

差不多同上

roscore

rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml

rosbag play --pause V1_02_medium.bag /cam0/image_raw:=/camera/image_raw /imu0:=/imu

运行如下图