1 .创建一个工作区，并在mkdir-p(/Catkin_ws/srccd )/catkin _ ws/src catkin _ init _ workspace CD )/Catkin_ws/Catkin_mm )的setup.bash 2.安装是sudo apt-getupdatesudoapt-getinstallgitcmakesudoapt-getinstalllibopencv-ddoapt - utilssudoapt-getinstallibboost-devlibboost-thread-devlibboost-file system-devsudoapt-getinstalllibx 11-getinstinstion bpng 12-dev libcurl4- gnutls-devlibfontconfig1- devlibsqlite3- devlibssl-de v3.panglingitclone https://hub dydbwb.gitcddydbwb./scripts/install _ prerequisites.shmkdirbuildcdbuildcmake-dcpp 11 _ no _ boost=1. cmake-- cmake eigen-git-mirrorcdeigen-git-mirrormkdirbuildcdbuildcmake . sudomakeinstall5.编译并安装ORB_Slam3gitclone3359g 编译h./build.sh#ROS版本CD orb _ slam3chmodxbuild _ ROS.sh./build _ ROS.bashrcexportros _ package _ path
解冻后，将MH_01_easy修正为MH01即可。 我在自己编译的orb _ slam3/examples/ROS/orb _ slam3/路径下创建一个新的dateset文件夹，在里面创建一个名为MH01的文件夹，将最后下载的数据集设置为MH01 然后转至/catkin_ws/src/ORB_SLAM3并运行以下命令，即可实现此操作
./examples/monocular/mono _ euroc./vocabulary/orb VOC.txt~~/catkin _ ws/src/orb _ slam3/examples/morb monocular/euroc _ timestamps/mh01.txt dataset-mh01-mh01/home/fairy/catkin _ ws/src/orb _ slam3/examplet
7 .摄像头安装测试usb_cam
CD catkin _ ws/src/git clone https://github.com/bosch-ROS-pkg/USB _ cam.gitusb _ camcdusb _ cam/mkdirbuildddcdbuilddcdbububuscam
CD catkin _ ws/src/orb _ slam3/examples/monocularsudogeditmyvideo.CPP my video.CPP内容如下
opencv库# include opencv2/opencv.HPP//orb _ slam的系统接口# include ' system.h ' # include string///计算时间# include
myvideo.yaml";string vocFile = "./../../Vocabulary/ORBvoc.txt";//视频文件，该示例中视频文件存放在/Workspace/src/ORB_SLAM3/Examples/Monocular下string videoFile = "./video.mp4";int main(int argc, char **argv){//声明ORB_SLAM3系统ORB_SLAM3::System SLAM(vocFile, parameterFile, ORB_SLAM3::System::MONOCULAR, true);//获取视频图像cv::VideoCapture cap(videoFile); //如果使用的是USB相机，将该参数修改成接口名称，如：0，1//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if(frame.data == nullptr)break;cv::Mat frame_resized;cv::resize(frame, frame_resized, cv::Size(960,540));//运行时显示的视频的尺寸auto now = chrono::system_clock::now();auto timestamp = chrono::duration_cast<chrono::milliseconds>(now - start);SLAM.TrackMonocular(frame_resized, double(timestamp.count())/1000.0);cv::waitKey(30);}SLAM.Shutdown();return 0;}在复制一份.yaml文件，重命名为myvideo.yaml,内容如下
%YAML:1.0#--------------------------------------------------------------------------------------------# Camera Parameters. Adjust them!#--------------------------------------------------------------------------------------------Camera.type: "PinHole"# Camera calibration and distortion parameters (OpenCV) Camera.fx: 614.3472290039062Camera.fy: 613.3615112304688Camera.cx: 314.36767578125Camera.cy: 239.8182830810547Camera.k1: 0.0Camera.k2: 0.0Camera.p1: 0.0Camera.p2: 0.0Camera.k3: 0.0# 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: 1# Camera resolutionCamera.width: 1920Camera.height: 1080#--------------------------------------------------------------------------------------------# ORB Parameters#--------------------------------------------------------------------------------------------# ORB Extractor: Number of features per imageORBextractor.nFeatures: 1000# ORB Extractor: Scale factor between levels in the scale pyramid ORBextractor.scaleFactor: 1.2# ORB Extractor: Number of levels in the scale pyramidORBextractor.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 contrastORBextractor.iniThFAST: 20ORBextractor.minThFAST: 7#--------------------------------------------------------------------------------------------# Viewer Parameters#--------------------------------------------------------------------------------------------Viewer.KeyFrameSize: 0.05Viewer.KeyFrameLineWidth: 5Viewer.GraphLineWidth: 0.9Viewer.PointSize:2Viewer.CameraSize: 0.08Viewer.CameraLineWidth: 3Viewer.ViewpointX: 0Viewer.ViewpointY: -0.7Viewer.ViewpointZ: -1.8Viewer.ViewpointF: 500在/home/fairy/catkin_ws/src/ORB_SLAM3/CmakeLists.txt添加以下内容，添加的位置在set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)后面，确保文件生成位置。
add_executable(myvideo Examples/Monocular/myvideo.cpp)target_link_libraries(myvideo ${PROJECT_NAME})3.编译运行
cd catkin_ws/catkin_make编译成功后，执行
cd src/ORB_SLAM3/./build.sh生成myvideo可执行文件后，打开终端运行roscore,然后进入到catkin_ws/src/ORB_SLAM3/Examples/Monocluar下执行
./myvideo数据集下载链接
参考文章
参考文章