ORB_ Slam3 environment setup and demo demonstration

ORB_SLAM3 Environment construction and demo demonstration

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

The tutorial part of this article refers to ：

https://www.ybliu.com/2020/07/ORB-SLAM3-demo.html

https://www.bilibili.com/video/BV1nR4y1W7mt?spm_id_from=333.880.my_history.page.click&vd_source=01da08e4487b8e450cf16063029887c6

Installation dependency

Relevant dependencies need to be installed before compilation , Related information can be viewed README, Installation dependencies are

mkdir build
cd build
cmake ..
make -j8
sudo make install

Be careful README One of them doesn't mention , It also needs to be installed , yes Pangolin

Pangolin github: https://github.com/stevenlovegrove/Pangolin

Optional installation dependencies ：https://github.com/IntelRealSense/librealsense

compile

Download the source code and execute it directly ./build.bash

./build.bash In the file, i.e. some compilation and execution instructions

** Be careful ：** Due to the large number of compiled contents , Errors may be reported in the middle , It is recommended that you perform this manually build.bash Again , And then by default make Relatively few cores , You can change more by yourself

Download datasets ：EuRoc

website ：https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

Download url ：https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets#downloads

Pay attention to download ASL Dataset Format

You can directly select the link in the figure to download , about 1.5G

Download it and extract it , Change your name , Change to MH01, The path can refer to the following picture

Test data set

./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

stay ORB_SLAM3 Execute the above code under the root directory , Pay attention to "$pathDatasetEuroc"/MH01 Is the path to the previously downloaded dataset

If it is my path as above , The code is

./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml /home/kt/data/Dataset/EuRoc/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

Normal output ：

num_seq = 1
file name: dataset-MH01_mono
Loading images for sequence 0...LOADED!

-------

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Monocular
Loading settings from ./Examples/Monocular/EuRoC.yaml
Camera1.k3 optional parameter does not exist...
	-Loaded camera 1
	-Loaded image info
	-Loaded ORB settings
Viewer.imageViewScale optional parameter does not exist...
	-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
	-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
	-Loaded misc parameters
----------------------------------
SLAM settings: 
	-Camera 1 parameters (Pinhole): [ 458.65399169921875 457.29598999023438 367.21499633789062 248.375 ]
	-Camera 1 distortion parameters: [  -0.28340810537338257 0.073959067463874817 0.00019359000725671649 1.7618711353861727e-05 ]
	-Original image size: [ 752 , 480 ]
	-Current image size: [ 600 , 350 ]
	-Camera 1 parameters after resize: [  365.94735717773438 333.44500732421875 292.99069213867188 181.10678100585938 ]
	-Sequence FPS: 20
	-Features per image: 1000
	-ORB scale factor: 1.2000000476837158
	-ORB number of scales: 8
	-Initial FAST threshold: 20
	-Min FAST threshold: 7


Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Initialization of Atlas from scratch 
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name: 
There are 1 cameras in the atlas
Camera 0 is pinhole
First KF:0; Map init KF:0
New Map created with 271 points

Be careful ： If no error is reported , There is no image output , You need to modify the source code ：

find mono_euroc.cc file , Amendment No 83 That's ok ：ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);

speak false Change to true That's it

Don't forget to recompile , Otherwise, it will not take effect

Output results