使用摄像头运行ORB SLAM2---使用视频运行ORB-SLAM2

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• 在orb_slam2 目录下新建文件　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: 240.0
 
Camera.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 目录下新建文件 一个myslam.cpp文件

• 这段代码定义了一个SLAM对象，然后会打开你⾃带的摄像头（或视频），读取图像，并交给ORB-SLAM2 处理

// 该文件将打开你电脑的摄像头，并将图像传递给ORB-SLAM2进行定位
 
// opencv
#include <opencv2/opencv.hpp>
 
// ORB-SLAM的系统接口
#include "System.h"
#include <string>
#include <chrono>   // for time stamp
#include <iostream>
 
using namespace std;
 
// 参数文件与字典文件
// 如果你系统上的路径不同，请修改它
string parameterFile = "./myslam.yaml";
string vocFile = "./Vocabulary/ORBvoc.txt";
 
int main(int argc, char **argv) {
 
    // 声明 ORB-SLAM2 系统
    ORB_SLAM2::System SLAM(vocFile, parameterFile, ORB_SLAM2::System::MONOCULAR, true);
 
    // 获取相机图像代码
    cv::VideoCapture cap(0);    // change to 1 if you want to use USB camera.
 
    // 分辨率设为640x480
    cap.set(CV_CAP_PROP_FRAME_WIDTH, 640);;//设置采集视频的宽度
    cap.set(CV_CAP_PROP_FRAME_HEIGHT, 480);//设置采集视频的高度

    // 记录系统时间
    auto start = chrono::system_clock::now();
 
    while (1) {
        cv::Mat frame;
        cap >> frame;   // 读取相机数据
        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 目录下 的CMakeLists.txt文件的末尾加入一下代码

#生成调用摄像头可执行文件
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR})
add_executable(myslam myslam.cpp)
target_link_libraries(myslam ${PROJECT_NAME})

• ####　进入ORBSLAM2下，删除原来的build 文件夹(如果an存在)

mkdir build
cd build
cmake ..
make -j8

cd  ..
./myslam          

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