ubuntu18.04 ORB-SLAM3编译运行

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wx62fc501145180 2023-04-24 16:11:32 ©著作权

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如何编译？

1、代码下载；

git clone https://github.com/UZ-SLAMLab/ORB_SLAM3

或者git clone https://github.com/electech6/ORB_SLAM3_detailed_comments

2、按照里面的README.md进行环境安装和编译；

安装和编译过程中可能会出现的问题：

1）提示找不到GLEW

解决方法：sudo apt install libglew-dev；

2）当执行./euroc_examples.sh时，会出现找不到libpango_image.so这个库

解决方法：

a、首先在系统中查找这个文件sudo find / -name libpango_image.so；结果为：/usr/local/lib/libpango_image.sob、将.so文件路径的目录添加到/etc/ld.so.conf：sudo gedit /etc/ld.so.conf，在文件的末尾添加一行：/usr/local/lib/libpango_image.so，执行sudo /sbin/ldconfig生效；

ubuntu18.04 ORB-SLAM3编译运行_ico

c、在编译build_ros.sh之前，需要执行

gedit ~/.bashrc，在文件末尾添加如下

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS

目前大概就遇到以上问题；

如何运行？

1、先下载数据集

这里下载的MH_01_easy.zip；解压并命名为MH01;

执行纯单目：

./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml /home/sangfor/2023/bro_ws/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

执行纯双目：

./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml /home/sangfor/2023/bro_ws/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo

执行单目惯导：

./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml /home/sangfor/2023/bro_ws/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi

执行双目惯导：

./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml /home/sangfor/2023/bro_ws/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi

其euroc_examples.sh的内容为：

ubuntu18.04 ORB-SLAM3编译运行_github_02

ubuntu18.04 ORB-SLAM3编译运行_ico_03

#!/bin/bash
pathDatasetEuroc='/home/sangfor/2023/bro_ws' #Example, it is necesary to change it by the dataset path

#------------------------------------
# Monocular Examples
echo "Launching MH01 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

echo "Launching MH02 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Monocular/EuRoC_TimeStamps/MH02.txt dataset-MH02_mono

echo "Launching MH03 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Monocular/EuRoC_TimeStamps/MH03.txt dataset-MH03_mono

echo "Launching MH04 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Monocular/EuRoC_TimeStamps/MH04.txt dataset-MH04_mono

echo "Launching MH05 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH05_mono

echo "Launching V101 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular/EuRoC_TimeStamps/V101.txt dataset-V101_mono

echo "Launching V102 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Monocular/EuRoC_TimeStamps/V102.txt dataset-V102_mono

echo "Launching V103 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Monocular/EuRoC_TimeStamps/V103.txt dataset-V103_mono

echo "Launching V201 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular/EuRoC_TimeStamps/V201.txt dataset-V201_mono

echo "Launching V202 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Monocular/EuRoC_TimeStamps/V202.txt dataset-V202_mono

echo "Launching V203 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Monocular/EuRoC_TimeStamps/V203.txt dataset-V203_mono

# MultiSession Monocular Examples
echo "Launching Machine Hall with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Monocular/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Monocular/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Monocular/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_mono

echo "Launching Vicon Room 1 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Monocular/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Monocular/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_mono

echo "Launching Vicon Room 2 with Monocular sensor"
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Monocular/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Monocular/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_mono

#------------------------------------
# Stereo Examples
echo "Launching MH01 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo

echo "Launching MH02 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Stereo/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereo

echo "Launching MH03 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Stereo/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereo

echo "Launching MH04 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Stereo/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereo

echo "Launching MH05 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereo

echo "Launching V101 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo/EuRoC_TimeStamps/V101.txt dataset-V101_stereo

echo "Launching V102 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Stereo/EuRoC_TimeStamps/V102.txt dataset-V102_stereo

echo "Launching V103 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Stereo/EuRoC_TimeStamps/V103.txt dataset-V103_stereo

echo "Launching V201 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo/EuRoC_TimeStamps/V201.txt dataset-V201_stereo

echo "Launching V202 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Stereo/EuRoC_TimeStamps/V202.txt dataset-V202_stereo

echo "Launching V203 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Stereo/EuRoC_TimeStamps/V203.txt dataset-V203_stereo

# MultiSession Stereo Examples
echo "Launching Machine Hall with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Stereo/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Stereo/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Stereo/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereo

echo "Launching Vicon Room 1 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Stereo/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Stereo/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereo

echo "Launching Vicon Room 2 with Stereo sensor"
./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Stereo/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Stereo/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereo

#------------------------------------
# Monocular-Inertial Examples
echo "Launching MH01 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi

echo "Launching MH02 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Monocular-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_monoi

echo "Launching MH03 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Monocular-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_monoi

echo "Launching MH04 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Monocular-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_monoi

echo "Launching MH05 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_monoi

echo "Launching V101 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_monoi

echo "Launching V102 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Monocular-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_monoi

echo "Launching V103 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_monoi

echo "Launching V201 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_monoi

echo "Launching V202 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Monocular-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_monoi

echo "Launching V203 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_monoi

# MultiSession Monocular Examples
echo "Launching Machine Hall with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Monocular-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Monocular-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Monocular-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_monoi

echo "Launching Vicon Room 1 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Monocular-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_monoi

echo "Launching Vicon Room 2 with Monocular-Inertial sensor"
./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Monocular-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_monoi

#------------------------------------
# Stereo-Inertial Examples
echo "Launching MH01 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi

echo "Launching MH02 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Stereo-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereoi

echo "Launching MH03 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Stereo-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereoi

echo "Launching MH04 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Stereo-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereoi

echo "Launching MH05 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereoi

echo "Launching V101 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_stereoi

echo "Launching V102 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Stereo-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_stereoi

echo "Launching V103 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_stereoi

echo "Launching V201 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_stereoi

echo "Launching V202 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Stereo-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_stereoi

echo "Launching V203 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_stereoi

# MultiSession Stereo-Inertial Examples
echo "Launching Machine Hall with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Stereo-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Stereo-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Stereo-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereoi

echo "Launching Vicon Room 1 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Stereo-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereoi

echo "Launching Vicon Room 2 with Stereo-Inertial sensor"
./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Stereo-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereoi

View Code

再下载数据集：名字为dataset-room1_512_16

纯单目运行：

./Monocular/mono_tum_vi ../Vocabulary/ORBvoc.txt Monocular/TUM_512.yaml /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam0/data Monocular/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_mono

纯双目运行：

./Stereo/stereo_tum_vi ../Vocabulary/ORBvoc.txt Stereo/TUM_512.yaml /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam0/data /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam1/data Stereo/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_stereo

单目惯导：

./Monocular-Inertial/mono_inertial_tum_vi ../Vocabulary/ORBvoc.txt Monocular-Inertial/TUM_512.yaml /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam0/data Monocular-Inertial/TUM_TimeStamps/dataset-room1_512.txt Monocular-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_monoi
双目惯导：

./Stereo-Inertial/stereo_inertial_tum_vi ../Vocabulary/ORBvoc.txt Stereo-Inertial/TUM_512.yaml /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam0/data /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam1/data Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Stereo-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_stereoi

ubuntu18.04 ORB-SLAM3编译运行_github_04

运行rgbd

准备工作：下载数据集：https://cvg.cit.tum.de/data/datasets/rgbd-dataset/download

这里下载的：rgbd_dataset_freiburg1_desk

下载associate.py,下载地址https://cvg.cit.tum.de/data/datasets/rgbd-dataset/tools，其目的是：它从rgb.txt文件和 depth.txt 文件中读取时间戳，并通过查找最佳匹配来连接它们。

之后开始运行：

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /home/sangfor/2023/bro_ws/rgbd_dataset_freiburg1_desk /home/sangfor/2023/bro_ws/rgbd_dataset_freiburg1_desk/associations.txt

运行ROS节点

1.运行单目惯导

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

rosbag play MH_01_easy.bag

2.纯单目运行

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

rosbag play MH_01_easy.bag /cam0/image_raw:=/camera/image_raw

3.纯双目

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

rosbag play MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw

4.双目惯导

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

rosbag play MH_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw /imu0:=/imu

5、运行rgbd

数据集下载地址：https://cvg.cit.tum.de/data/datasets/rgbd-dataset/download#freiburg1_xyz

fr1/xyz选择more info找到bag文件，下载之；rgbd_dataset_freiburg1_xyz.bag

rosrun ORB_SLAM3 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml

rosbag play rgbd_dataset_freiburg1_xyz.bag

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