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....
(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...
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)。
mbResetActiveMap =false; } 2.2 传递进来的IMU测量值被存储在队列mlQueueImuData中。 for(size_t i_imu =0; i_imu < vImuMeas.size(); i_imu++) mpTracker->GrabImuData(vImuMeas[i_imu]); 之后跟踪传递进来的图像,计算它的位姿Tcw。因为这里处理的是第0帧,Tcw应该是一个4维的单位矩阵。
(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), ...
(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...
mbOnlyTracking(false), mbMapUpdated(false), mbVO(false), mpORBVocabulary(pVoc), mpKeyFrameDB(pKFDB), mbReadyToInitializate(false), mpSystem(pSys), mpViewer(NULL), bStepByStep(false), mpFrameDrawer(pFrameDrawer), mpMapDrawer(pMapDrawer), mpAtlas(pAtlas), mnLastRelocFrameId(0), time_re...
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...
cmake -- Installing: /usr/local/bin/VideoViewer -- Set runtime path of "/usr/local/bin/VideoViewer" to "" -- Installing: /usr/local/bin/VideoConvert -- Set runtime path of "/usr/local/bin/VideoConvert" to "" -- Installing: /usr/local/bin/VideoJsonPrint -- Set runtime path ...