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• 在orb_slam2 目錄下新建文件　myslam.yaml

%YAML:1.0#-------------------------------------------------------------------------------------------- # Camera Parameters. Adjust them! #--------------------------------------------------------------------------------------------# Camera calibration and distortion parameters (OpenCV) Camera.fx: 500.0 Camera.fy: 500.0 Camera.cx: 320.0 Camera.cy: 240.0Camera.k1: 0 Camera.k2: 0 Camera.p1: 0 Camera.p2: 0 Camera.k3: 0# Camera frames per second Camera.fps: 30.0# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale) Camera.RGB: 0#-------------------------------------------------------------------------------------------- # ORB Parameters #--------------------------------------------------------------------------------------------# ORB Extractor: Number of features per image ORBextractor.nFeatures: 1000# ORB Extractor: Scale factor between levels in the scale pyramid ORBextractor.scaleFactor: 1.2# ORB Extractor: Number of levels in the scale pyramid ORBextractor.nLevels: 8# ORB Extractor: Fast threshold # Image is divided in a grid. At each cell FAST are extracted imposing a minimum response. # Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST # You can lower these values if your images have low contrast ORBextractor.iniThFAST: 10 ORBextractor.minThFAST: 5#-------------------------------------------------------------------------------------------- # Viewer Parameters #-------------------------------------------------------------------------------------------- Viewer.KeyFrameSize: 0.05 Viewer.KeyFrameLineWidth: 1 Viewer.GraphLineWidth: 0.9 Viewer.PointSize: 2 Viewer.CameraSize: 0.08 Viewer.CameraLineWidth: 3 Viewer.ViewpointX: 0 Viewer.ViewpointY: -0.7 Viewer.ViewpointZ: -1.8 Viewer.ViewpointF: 500

• 在orb_slam2 目錄下新建文件 一個(gè)myslam.cpp文件

• 這段代碼定義了一個(gè)SLAM對(duì)象，然后會(huì)打開(kāi)你?帶的攝像頭（或視頻），讀取圖像，并交給ORB-SLAM2 處理

// 該文件將打開(kāi)你電腦的攝像頭，并將圖像傳遞給ORB-SLAM2進(jìn)行定位// opencv #include <opencv2/opencv.hpp>// ORB-SLAM的系統(tǒng)接口 #include "System.h" #include <string> #include <chrono> // for time stamp #include <iostream>using namespace std;// 參數(shù)文件與字典文件 // 如果你系統(tǒng)上的路徑不同，請(qǐng)修改它 string parameterFile = "./myslam.yaml"; string vocFile = "./Vocabulary/ORBvoc.txt";int main(int argc, char **argv) {// 聲明 ORB-SLAM2 系統(tǒng)ORB_SLAM2::System SLAM(vocFile, parameterFile, ORB_SLAM2::System::MONOCULAR, true);// 獲取相機(jī)圖像代碼cv::VideoCapture cap(0); // change to 1 if you want to use USB camera.// 分辨率設(shè)為640x480cap.set(CV_CAP_PROP_FRAME_WIDTH, 640);;//設(shè)置采集視頻的寬度cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480);//設(shè)置采集視頻的高度// 記錄系統(tǒng)時(shí)間auto start = chrono::system_clock::now();while (1) {cv::Mat frame;cap >> frame; // 讀取相機(jī)數(shù)據(jù)auto now = chrono::system_clock::now();auto timestamp = chrono::duration_cast<chrono::milliseconds>(now - start);SLAM.TrackMonocular(frame, double(timestamp.count())/1000.0);}return 0; }

• 在orb_slam2 目錄下 的CMakeLists.txt文件的末尾加入一下代碼

#生成調(diào)用攝像頭可執(zhí)行文件 set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}) add_executable(myslam myslam.cpp) target_link_libraries(myslam ${PROJECT_NAME})

• ####　進(jìn)入ORBSLAM2下，刪除原來(lái)的build 文件夾(如果an存在)

mkdir build cd build cmake .. make -j8cd .. ./myslam

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