当命令行出现>符号时，通常表示ORB-SLAM3运行未成功，并且在等待用户输入下一个命令。可能会发生以下几...
7.GitHub - AlejandroSilvestri/osmap: Save and load orb-slam2 maps 添加保存和导入地图功能 8.GitHub - Jiankai-Sun/ORB_SLAM2: ORB_SLAM2 with map load/save function 添加保存和导入地图功能 9.GitHub - AlejandroSilvestri/Osmap-viewer: Viewer for maps from ORB-SLAM2 Osmap 添加了地图可视化 10....
PointCloudMapping初始化函数,用于初始化内部的降采样滤波器(防止点云过多)、统计滤波器(去除离群点)、双目视差算法(可选)。 viewer在初始化函数是就会开启该程序的一个线程,用于作图。 insertKeyFrame用于插入关键帧的数据,包括关键帧的位姿、图像数据,三种重载:深度相机、双目相机(视差图)、双目相机(无视差图)。
(https://github.com/AlejandroSilvestri/osmap),添加保存和导入地图功能 [ORB_SLAM2 with map load/save function] (https://github.com/Jiankai-Sun/ORB_SLAM2_Enhanced),添加保存和导入地图功能 [Viewer for maps from ORB-SLAM2 Osmap] (https://github.com/AlejandroSilvestri/Osmap-viewer), 添加了地图...
(https://github.com/AlejandroSilvestri/osmap),添加保存和导入地图功能 [ORB_SLAM2 with map load/save function] (https://github.com/Jiankai-Sun/ORB_SLAM2_Enhanced),添加保存和导入地图功能 [Viewer for maps from ORB-SLAM2 Osmap] (https://github.com/AlejandroSilvestri/Osmap-viewer), ...
用预训练好的词袋、yaml配置文件初始化并启动系统的4个线程,包括跟踪mpTracker、建图mpLocalMapper、回环mpLoopCloser和可视化mpViewer。 ORB_SLAM3::SystemSLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR,true); 之后的工作就很直接了,系统需要将每一帧im、时间戳tframe和对应的IMU测量值vImuMeas传递...
[Save and load orb-slam2 maps] (https://github.com/AlejandroSilvestri/osmap),添加保存和导入地图功能 [ORB_SLAM2 with map load/save function] (https://github.com/Jiankai-Sun/ORB_SLAM2_Enhanced),添加保存和导入地图功能 [Viewer for maps from ORB-SLAM2 Osmap] (https://github.com/Alejandro...
(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer, const int initFr, const string &strSequence): mSensor(sensor), mpViewer(static_cast<Viewer*>(NULL)), mbReset(false), mbResetActiveMap(false), mbActivateLocalizationMode(false), mb...
mbReadyToInitializate(false), mpSystem(pSys), mpViewer(NULL), bStepByStep(false), mpFrameDrawer(pFrameDrawer), mpMapDrawer(pMapDrawer), mpAtlas(pAtlas), mnLastRelocFrameId(0), time_recently_lost(5.0), mnInitialFrameId(0), mbCreatedMap(false), mnFirstFrameId(0), mpCamera2(nullptr), ...
ORB-SLAM3 is the first real-time SLAM library able to performVisual, Visual-Inertial and Multi-Map SLAMwithmonocular, stereo and RGB-Dcameras, usingpin-hole and fisheyelens models. In all sensor configurations, ORB-SLAM3 is as robust as the best systems available in the literature, and sign...