{"id":1122,"date":"2024-06-27T16:44:37","date_gmt":"2024-06-27T07:44:37","guid":{"rendered":"https:\/\/elosove.com\/?p=1122"},"modified":"2024-06-27T16:44:37","modified_gmt":"2024-06-27T07:44:37","slug":"orb-slam3%e3%81%ae%e3%82%b3%e3%83%bc%e3%83%89%e3%83%aa%e3%83%bc%e3%83%87%e3%82%a3%e3%83%b3%e3%82%b0-2-orb-slam3%e3%81%ae%e4%bd%bf%e3%81%84%e6%96%b9","status":"publish","type":"post","link":"https:\/\/elosove.com\/?p=1122","title":{"rendered":"ORB-SLAM3\u306e\u30b3\u30fc\u30c9\u30ea\u30fc\u30c7\u30a3\u30f3\u30b0 #2 | ORB-SLAM3\u306e\u4f7f\u3044\u65b9"},"content":{"rendered":"\n<p><a href=\"https:\/\/elosove.com\/?p=1111\">\u524d\u56de<\/a>\u306b\u7d9a\u3044\u3066\u4eca\u56de\u306fExamples\u30d5\u30a9\u30eb\u30c0\u3092\u898b\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>ORB-SLAM3\u306f\u5358\u773c\u3001RGB-D\u3001\u30b9\u30c6\u30ec\u30aa\u30ab\u30e1\u30e9\u306e3\u30bf\u30a4\u30d7\u306e\u5165\u529b\u3068IMU[\u52a0\u901f\u5ea6]\u6709\u308a\u7121\u3057\u306e\u8a086\u30d1\u30bf\u30fc\u30f3\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u306e\u3067Examples\u30d5\u30a9\u30eb\u30c0\u3082\u5168\u3066\u306e\u30d1\u30bf\u30fc\u30f3\u306b\u3064\u3044\u3066\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u4eca\u56de\u306f\u305d\u306e\u4e2d\u3067\u3082\u9700\u8981\u306e\u9ad8\u305d\u3046\u306a\u30d4\u30f3\u30db\u30fc\u30eb\u5358\u773c+IMU(Monocular-Inertial)\u30b5\u30f3\u30d7\u30eb\u306b\u3064\u3044\u3066\u898b\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p> <\/p>\n\n\n\n<div id=\"ez-toc-container\" class=\"ez-toc-v2_0_71 counter-hierarchy ez-toc-counter ez-toc-grey ez-toc-container-direction\">\n<div class=\"ez-toc-title-container\">\n<p class=\"ez-toc-title\" style=\"cursor:inherit\">Table of Contents<\/p>\n<span class=\"ez-toc-title-toggle\"><a href=\"#\" class=\"ez-toc-pull-right ez-toc-btn ez-toc-btn-xs ez-toc-btn-default ez-toc-toggle\" aria-label=\"Toggle Table of Content\"><span class=\"ez-toc-js-icon-con\"><span class=\"\"><span class=\"eztoc-hide\" style=\"display:none;\">Toggle<\/span><span class=\"ez-toc-icon-toggle-span\"><svg style=\"fill: #999;color:#999\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" class=\"list-377408\" width=\"20px\" height=\"20px\" viewBox=\"0 0 24 24\" fill=\"none\"><path d=\"M6 6H4v2h2V6zm14 0H8v2h12V6zM4 11h2v2H4v-2zm16 0H8v2h12v-2zM4 16h2v2H4v-2zm16 0H8v2h12v-2z\" fill=\"currentColor\"><\/path><\/svg><svg style=\"fill: #999;color:#999\" class=\"arrow-unsorted-368013\" xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"10px\" height=\"10px\" viewBox=\"0 0 24 24\" version=\"1.2\" baseProfile=\"tiny\"><path d=\"M18.2 9.3l-6.2-6.3-6.2 6.3c-.2.2-.3.4-.3.7s.1.5.3.7c.2.2.4.3.7.3h11c.3 0 .5-.1.7-.3.2-.2.3-.5.3-.7s-.1-.5-.3-.7zM5.8 14.7l6.2 6.3 6.2-6.3c.2-.2.3-.5.3-.7s-.1-.5-.3-.7c-.2-.2-.4-.3-.7-.3h-11c-.3 0-.5.1-.7.3-.2.2-.3.5-.3.7s.1.5.3.7z\"\/><\/svg><\/span><\/span><\/span><\/a><\/span><\/div>\n<nav><ul class='ez-toc-list ez-toc-list-level-1 ' ><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-1\" href=\"https:\/\/elosove.com\/?p=1122\/#Monocular-Inertial%E3%82%B5%E3%83%B3%E3%83%97%E3%83%AB%E3%81%AE%E4%B8%AD%E8%BA%AB\" title=\"Monocular-Inertial\u30b5\u30f3\u30d7\u30eb\u306e\u4e2d\u8eab\">Monocular-Inertial\u30b5\u30f3\u30d7\u30eb\u306e\u4e2d\u8eab<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/elosove.com\/?p=1122\/#mono_inertial_euroccc%E3%81%AE%E3%82%B3%E3%83%BC%E3%83%89\" title=\"mono_inertial_euroc.cc\u306e\u30b3\u30fc\u30c9\">mono_inertial_euroc.cc\u306e\u30b3\u30fc\u30c9<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/elosove.com\/?p=1122\/#%E3%82%B3%E3%83%9E%E3%83%B3%E3%83%89%E3%83%A9%E3%82%A4%E3%83%B3%E5%BC%95%E6%95%B0%E3%81%AE%E3%83%81%E3%82%A7%E3%83%83%E3%82%AF\" title=\"\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u5f15\u6570\u306e\u30c1\u30a7\u30c3\u30af\">\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u5f15\u6570\u306e\u30c1\u30a7\u30c3\u30af<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-4\" href=\"https:\/\/elosove.com\/?p=1122\/#%E5%85%A5%E5%8A%9B%E3%83%87%E3%83%BC%E3%82%BF%E3%81%AE%E8%AA%AD%E3%81%BF%E8%BE%BC%E3%81%BF\" title=\"\u5165\u529b\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f\">\u5165\u529b\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-5\" href=\"https:\/\/elosove.com\/?p=1122\/#SLAM%E3%82%B7%E3%82%B9%E3%83%86%E3%83%A0%E3%81%AE%E5%88%9D%E6%9C%9F%E5%8C%96\" title=\"SLAM\u30b7\u30b9\u30c6\u30e0\u306e\u521d\u671f\u5316\">SLAM\u30b7\u30b9\u30c6\u30e0\u306e\u521d\u671f\u5316<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-6\" href=\"https:\/\/elosove.com\/?p=1122\/#%E3%83%A1%E3%82%A4%E3%83%B3%E3%83%AB%E3%83%BC%E3%83%97\" title=\"\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7\">\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-7\" href=\"https:\/\/elosove.com\/?p=1122\/#%E3%83%87%E3%83%BC%E3%82%BF%E3%82%BB%E3%83%83%E3%83%88%E3%81%AE%E5%A4%89%E6%9B%B4\" title=\"\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u306e\u5909\u66f4\">\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u306e\u5909\u66f4<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-8\" href=\"https:\/\/elosove.com\/?p=1122\/#%E7%B5%82%E4%BA%86%E5%87%A6%E7%90%86\" title=\"\u7d42\u4e86\u51e6\u7406\">\u7d42\u4e86\u51e6\u7406<\/a><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Monocular-Inertial%E3%82%B5%E3%83%B3%E3%83%97%E3%83%AB%E3%81%AE%E4%B8%AD%E8%BA%AB\"><\/span>Monocular-Inertial\u30b5\u30f3\u30d7\u30eb\u306e\u4e2d\u8eab<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>\u30d5\u30a9\u30eb\u30c0\u306e\u4e2d\u8eab\u306f\u4e0b\u8a18\u306e\u901a\u308a\u3002<\/p>\n\n\n\n<p>ORB-SLAM3<br>\u251c Examples<br>\u3000\u3000\u251c Monocular-Inertial\/<br>\u3000\u3000\u3000\u3000\u251c\u3000mono_inertial_euroc.cc\u3000|\u3000\u30aa\u30d5\u30e9\u30a4\u30f3\/\u30d4\u30f3\u30db\u30fc\u30eb<br>\u3000\u3000\u3000\u3000\u251c\u3000EuRoC.yaml<br>\u3000\u3000\u3000\u3000\u251c\u3000mono_inertial_realsense_D435i.cc\u3000|\u3000\u30aa\u30f3\u30e9\u30a4\u30f3\/\u30d4\u30f3\u30db\u30fc\u30eb<br>\u3000\u3000\u3000\u3000\u251c\u3000RealSense_D435i.yaml<br>\u3000\u3000\u3000\u3000\u251c\u3000mono_inertial_realsense_t265.cc\u3000|\u3000\u30aa\u30f3\u30e9\u30a4\u30f3\/\u9b5a\u773c<br>\u3000\u3000\u3000\u3000\u251c\u3000RealSense_T265.yaml<br>\u3000\u3000\u3000\u3000\u251c\u3000mono_inertial_tum_vi.cc\u3000|\u3000\u30aa\u30d5\u30e9\u30a4\u30f3\/\u9b5a\u773c<br>\u3000\u3000\u3000\u3000\u251c\u3000TUM-VI.yaml\u3000|\u3000\u901a\u5e38\u8a2d\u5b9a\u5024<br>\u3000\u3000\u3000\u3000\u251c\u3000TUM-VI_far.yaml\u3000|\u3000System.thFarPoints\u8a2d\u5b9a<br>\u3000\u3000\u3000\u3000\u251c\u3000EuRoC_IMU<br>\u3000\u3000\u3000\u3000\u251c\u3000EuRoC_TimeStamps<br>\u3000\u3000\u3000\u3000\u251c\u3000TUM_IMU<br>\u3000\u3000\u3000\u3000\u2514\u3000TUM_TimeStamps<\/p>\n\n\n\n<p>\u7528\u8a9e\u306f\u4e0b\u8a18\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>EuRoC : \u30c1\u30e5\u30fc\u30ea\u30c3\u30d2\u5de5\u79d1\u5927\u5b66<a href=\"https:\/\/projects.asl.ethz.ch\/datasets\/doku.php?id=kmavvisualinertialdatasets\">\u516c\u958b\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8<\/a><\/li>\n\n\n\n<li>realsense D435i : <a href=\"https:\/\/www.intelrealsense.com\/depth-camera-d435i\/\">intel\u306e\u30b9\u30c6\u30ab\u30e1<\/a><\/li>\n\n\n\n<li>realsense t265 : <a href=\"https:\/\/www.intelrealsense.com\/visual-inertial-tracking-case-study\/\">intel\u306e\u9b5a\u773c\u30ec\u30f3\u30ba\u306e\u30b9\u30c6\u30ab\u30e1<\/a><\/li>\n\n\n\n<li>TUM : \u30df\u30e5\u30f3\u30d8\u30f3\u5de5\u79d1\u5927\u5b66<a href=\"https:\/\/cvg.cit.tum.de\/data\/datasets\/rgbd-dataset\">\u516c\u958b\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8<\/a><\/li>\n<\/ul>\n\n\n\n<p>\u30ab\u30e1\u30e9\u3068IMU\u306e\u8a2d\u5b9a\u5024\u306fyaml\u5f62\u5f0f\u3067\u305d\u308c\u305e\u308c\u6e96\u5099\u3055\u308c\u3066\u3044\u3066\u3001\u30ab\u30e1\u30e9\u3084IMU\u306e\u30ad\u30e3\u30ea\u30d6\u30ec\u30fc\u30b7\u30e7\u30f3\u30c7\u30fc\u30bf\u304c\u8a18\u8f09\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u8a2d\u5b9a\u5024\u306e\u610f\u5473\u3084\u8a2d\u5b9a\u306e\u4ed5\u65b9\u306b\u3064\u3044\u3066\u306f\u30d7\u30ed\u30b8\u30a7\u30af\u30c8\u306e\u30eb\u30fc\u30c8\u30c7\u30a3\u30ec\u30af\u30c8\u30ea\u306b\u3042\u308b<a href=\"https:\/\/github.com\/UZ-SLAMLab\/ORB_SLAM3\/blob\/master\/Calibration_Tutorial.pdf\">Calibration_Tutorial.pdf<\/a>\u306b\u8a73\u7d30\u304c\u8f09\u3063\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u5fd9\u3057\u3044\u4eba\u5411\u3051\u306b\u76ee\u6b21\u3068\u6982\u8981\u3092\u30e1\u30e2\u3057\u3066\u304a\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>\u5c0e\u5165<\/li>\n\n\n\n<li>\u30ab\u30e1\u30e9-IMU\u306e\u5ea7\u6a19\u30e2\u30c7\u30eb\u3068\u5909\u6570\u306e\u5b9a\u7fa9<\/li>\n\n\n\n<li>IMU\u30d1\u30e9\u30e1\u30fc\u30bf\u306e\u8a2d\u5b9a\u5024\u306b\u3064\u3044\u3066<\/li>\n\n\n\n<li>Realsense D435i\u306e\u8a2d\u5b9a\u4f8b<\/li>\n\n\n\n<li>\u65b0\u898f\u8a2d\u5b9a\u306e\u4f8b : \u8a2d\u5b9a\u5024\u5909\u6570\u306e\u8aac\u660e<\/li>\n<\/ol>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"mono_inertial_euroccc%E3%81%AE%E3%82%B3%E3%83%BC%E3%83%89\"><\/span>mono_inertial_euroc.cc\u306e\u30b3\u30fc\u30c9<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>slam\u306e\u5b9f\u884c\u306b\u306f\u4e0b\u8a18\u306e\uff14\u3064\u306e\u5f15\u6570\u304c\u5fc5\u9808\u3067\u3001\u30aa\u30d7\u30b7\u30e7\u30f3\u3067\u30c7\u30fc\u30bf\u4fdd\u5b58\u7528\u306e\u30d5\u30a1\u30a4\u30eb\u540d\u304c\u5165\u308c\u3089\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<ol class=\"wp-block-list\">\n<li>vocabulary\u30d5\u30a1\u30a4\u30eb\u306e\u30d1\u30b9 [ORBvoc.txt]<\/li>\n\n\n\n<li>\u8a2d\u5b9a\u5024\u30d5\u30a1\u30a4\u30eb\u306e\u30d1\u30b9 [EuRoC.yaml]<\/li>\n\n\n\n<li>\u30b7\u30fc\u30b1\u30f3\u30b9\u30d5\u30a9\u30eb\u30c0\u306e\u30d1\u30b9 [\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u306e\u30eb\u30fc\u30c8]<\/li>\n\n\n\n<li>\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u30c7\u30fc\u30bf\u306e\u30d1\u30b9 [MH01.txt]<\/li>\n\n\n\n<li>\u30ab\u30e1\u30e9\u3068\u30ad\u30fc\u30d5\u30ec\u30fc\u30e0\u306e\u8ecc\u8de1\u30c7\u30fc\u30bf\u306e\u4fdd\u5b58\u30d5\u30a1\u30a4\u30eb\u540d [\u30aa\u30d7\u30b7\u30e7\u30f3]<\/li>\n<\/ol>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B3%E3%83%9E%E3%83%B3%E3%83%89%E3%83%A9%E3%82%A4%E3%83%B3%E5%BC%95%E6%95%B0%E3%81%AE%E3%83%81%E3%82%A7%E3%83%83%E3%82%AF\"><\/span>\u30b3\u30de\u30f3\u30c9\u30e9\u30a4\u30f3\u5f15\u6570\u306e\u30c1\u30a7\u30c3\u30af<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u3056\u3063\u304f\u308a\u30682\u500b\u306e\u51e6\u7406\u3092\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>\u5f15\u6570\u306e\u500b\u6570\u304c\u5fc5\u9808\u5f15\u6570\u306e\u500b\u6570\u4ee5\u4e0b\u3067\u3042\u308c\u3070\u30a8\u30e9\u30fc\u3067\u8fd4\u3059\u3002<\/li>\n\n\n\n<li>\u5fc5\u9808\u5f15\u6570\u3068\u30b7\u30fc\u30b1\u30f3\u30b9\u30d5\u30a9\u30eb\u30c0\u30d1\u30b9\u306e\u30da\u30a2(image\u3068times)\u304c\u5b58\u5728\u3059\u308b\u6642\u3001\u5f15\u6570\u306f\u5947\u6570\u3067\u30aa\u30d7\u30b7\u30e7\u30f3\u306e\u30c7\u30fc\u30bf\u4fdd\u5b58\u30d5\u30a1\u30a4\u30eb\u540d\u304c\u5b58\u5728\u3059\u308b\u6642\u306b\u5f15\u6570\u306f\u5076\u6570\u3068\u306a\u308b\u306e\u3067\u3001\u5076\u6570\u306e\u5834\u5408\u306f&#8221;file_name&#8221;\u5f15\u6570\u306b\u30d5\u30a1\u30a4\u30eb\u540d\u3092\u8a2d\u5b9a\u3057\u3066\u3044\u307e\u3059\u3002[\u30c8\u30ea\u30c3\u30ad\u30fc\u306a\u6c17\u304c\u3057\u307e\u3059\u304c\u3002\u3002\u3002]\n<ul class=\"wp-block-list\">\n<li>\u30aa\u30d7\u30b7\u30e7\u30f3\u5f15\u6570\u304c\u7121\u3044\u5834\u5408\u306f&#8221;CameraTrajectory.txt&#8221;\u3068&#8221;KeyFrameTrajectory.txt&#8221;\u3068\u3044\u3046\u30d5\u30a1\u30a4\u30eb\u540d\u3067\u4fdd\u5b58\u3055\u308c\u307e\u3059\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"\/\/ \u30c7\u30fc\u30bf\u4fdd\u5b58\u30d5\u30a1\u30a4\u30eb\u540d\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u8a2d\u5b9a 51 - 57\u884c\u76ee\nbool bFileName= (((argc-3) % 2) == 1);\nstring file_name;\nif (bFileName)\n{\n   file_name = string(argv[argc-1]);\n   cout &lt;&lt; &quot;file name: &quot; &lt;&lt; file_name &lt;&lt; endl;\n}\n    \n\/\/ \u30c7\u30fc\u30bf\u4fdd\u5b58\u30d5\u30a1\u30a4\u30eb\u540d\u306e\u8a2d\u5b9a 236 - 247\u884c\u76ee\nif (bFileName)\n{\n    const string kf_file =  &quot;kf_&quot; + string(argv[argc-1]) + &quot;.txt&quot;;\n    const string f_file =  &quot;f_&quot; + string(argv[argc-1]) + &quot;.txt&quot;;\n    SLAM.SaveTrajectoryEuRoC(f_file);\n    SLAM.SaveKeyFrameTrajectoryEuRoC(kf_file);\n}\nelse\n{\n    SLAM.SaveTrajectoryEuRoC(&quot;CameraTrajectory.txt&quot;);\n    SLAM.SaveKeyFrameTrajectoryEuRoC(&quot;KeyFrameTrajectory.txt&quot;);\n}\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\">\/\/ \u30c7\u30fc\u30bf\u4fdd\u5b58\u30d5\u30a1\u30a4\u30eb\u540d\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u8a2d\u5b9a 51 - 57\u884c\u76ee<\/span><\/span>\n<span class=\"line\"><span style=\"color: #569CD6\">bool<\/span><span style=\"color: #D4D4D4\"> bFileName= (((argc-<\/span><span style=\"color: #B5CEA8\">3<\/span><span style=\"color: #D4D4D4\">) % <\/span><span style=\"color: #B5CEA8\">2<\/span><span style=\"color: #D4D4D4\">) == <\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">string file_name;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">if<\/span><span style=\"color: #D4D4D4\"> (bFileName)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">{<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">   file_name = <\/span><span style=\"color: #DCDCAA\">string<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #9CDCFE\">argv<\/span><span style=\"color: #D4D4D4\">[argc-<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">]);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">   cout &lt;&lt; <\/span><span style=\"color: #CE9178\">&quot;file name: &quot;<\/span><span style=\"color: #D4D4D4\"> &lt;&lt; file_name &lt;&lt; endl;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">}<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/ \u30c7\u30fc\u30bf\u4fdd\u5b58\u30d5\u30a1\u30a4\u30eb\u540d\u306e\u8a2d\u5b9a 236 - 247\u884c\u76ee<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">if<\/span><span style=\"color: #D4D4D4\"> (bFileName)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">{<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #569CD6\">const<\/span><span style=\"color: #D4D4D4\"> string kf_file =  <\/span><span style=\"color: #CE9178\">&quot;kf_&quot;<\/span><span style=\"color: #D4D4D4\"> + <\/span><span style=\"color: #DCDCAA\">string<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #9CDCFE\">argv<\/span><span style=\"color: #D4D4D4\">[argc-<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">]) + <\/span><span style=\"color: #CE9178\">&quot;.txt&quot;<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #569CD6\">const<\/span><span style=\"color: #D4D4D4\"> string f_file =  <\/span><span style=\"color: #CE9178\">&quot;f_&quot;<\/span><span style=\"color: #D4D4D4\"> + <\/span><span style=\"color: #DCDCAA\">string<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #9CDCFE\">argv<\/span><span style=\"color: #D4D4D4\">[argc-<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">]) + <\/span><span style=\"color: #CE9178\">&quot;.txt&quot;<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #9CDCFE\">SLAM<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">SaveTrajectoryEuRoC<\/span><span style=\"color: #D4D4D4\">(f_file);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #9CDCFE\">SLAM<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">SaveKeyFrameTrajectoryEuRoC<\/span><span style=\"color: #D4D4D4\">(kf_file);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">}<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">else<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">{<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #9CDCFE\">SLAM<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">SaveTrajectoryEuRoC<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #CE9178\">&quot;CameraTrajectory.txt&quot;<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #9CDCFE\">SLAM<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">SaveKeyFrameTrajectoryEuRoC<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #CE9178\">&quot;KeyFrameTrajectory.txt&quot;<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">}<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E5%85%A5%E5%8A%9B%E3%83%87%E3%83%BC%E3%82%BF%E3%81%AE%E8%AA%AD%E3%81%BF%E8%BE%BC%E3%81%BF\"><\/span>\u5165\u529b\u30c7\u30fc\u30bf\u306e\u8aad\u307f\u8fbc\u307f<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30b7\u30fc\u30b1\u30f3\u30b9\u500b\u6570\u5206\u3001\u30ab\u30e1\u30e9\u753b\u50cf\u3068IMU\u30c7\u30fc\u30bf\u3001\u305d\u308c\u305e\u308c\u306b\u5bfe\u5fdc\u3059\u308b\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u3092\u8aad\u307f\u8fbc\u3093\u3067\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"string pathSeq(argv[(2*seq) + 3]);\nstring pathTimeStamps(argv[(2*seq) + 4]);\n\nstring pathCam0 = pathSeq + &quot;\/mav0\/cam0\/data&quot;;\nstring pathImu = pathSeq + &quot;\/mav0\/imu0\/data.csv&quot;;\n\nLoadImages(pathCam0, pathTimeStamps, vstrImageFilenames[seq], vTimestampsCam[seq]);\ncout &lt;&lt; &quot;LOADED!&quot; &lt;&lt; endl;\n\ncout &lt;&lt; &quot;Loading IMU for sequence &quot; &lt;&lt; seq &lt;&lt; &quot;...&quot;;\nLoadIMU(pathImu, vTimestampsImu[seq], vAcc[seq], vGyro[seq]);\ncout &lt;&lt; &quot;LOADED!&quot; &lt;&lt; endl;\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #4EC9B0\">string<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #DCDCAA\">pathSeq<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #4EC9B0\">argv<\/span><span style=\"color: #D4D4D4\">[(<\/span><span style=\"color: #B5CEA8\">2<\/span><span style=\"color: #D4D4D4\">*seq) + <\/span><span style=\"color: #B5CEA8\">3<\/span><span style=\"color: #D4D4D4\">]);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #4EC9B0\">string<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #DCDCAA\">pathTimeStamps<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #4EC9B0\">argv<\/span><span style=\"color: #D4D4D4\">[(<\/span><span style=\"color: #B5CEA8\">2<\/span><span style=\"color: #D4D4D4\">*seq) + <\/span><span style=\"color: #B5CEA8\">4<\/span><span style=\"color: #D4D4D4\">]);<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">string pathCam0 = pathSeq + <\/span><span style=\"color: #CE9178\">&quot;\/mav0\/cam0\/data&quot;<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">string pathImu = pathSeq + <\/span><span style=\"color: #CE9178\">&quot;\/mav0\/imu0\/data.csv&quot;<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">LoadImages<\/span><span style=\"color: #D4D4D4\">(pathCam0, pathTimeStamps, <\/span><span style=\"color: #9CDCFE\">vstrImageFilenames<\/span><span style=\"color: #D4D4D4\">[seq], <\/span><span style=\"color: #9CDCFE\">vTimestampsCam<\/span><span style=\"color: #D4D4D4\">[seq]);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">cout &lt;&lt; <\/span><span style=\"color: #CE9178\">&quot;LOADED!&quot;<\/span><span style=\"color: #D4D4D4\"> &lt;&lt; endl;<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">cout &lt;&lt; <\/span><span style=\"color: #CE9178\">&quot;Loading IMU for sequence &quot;<\/span><span style=\"color: #D4D4D4\"> &lt;&lt; seq &lt;&lt; <\/span><span style=\"color: #CE9178\">&quot;...&quot;<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #DCDCAA\">LoadIMU<\/span><span style=\"color: #D4D4D4\">(pathImu, <\/span><span style=\"color: #9CDCFE\">vTimestampsImu<\/span><span style=\"color: #D4D4D4\">[seq], <\/span><span style=\"color: #9CDCFE\">vAcc<\/span><span style=\"color: #D4D4D4\">[seq], <\/span><span style=\"color: #9CDCFE\">vGyro<\/span><span style=\"color: #D4D4D4\">[seq]);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">cout &lt;&lt; <\/span><span style=\"color: #CE9178\">&quot;LOADED!&quot;<\/span><span style=\"color: #D4D4D4\"> &lt;&lt; endl;<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<p><strong>LoadImages\u95a2\u6570\u306e\u51e6\u7406\u6982\u8981<\/strong> [252-274\u884c\u76ee]<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Examples\/Monocular-Inertial\/EuRoC_TimeStamps\/MH01.txt\u306e\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u3092\uff11\u884c\u8aad\u307f\u53d6\u308a\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u8aad\u307f\u53d6\u3063\u305f\u5024[=\u6642\u523b]\u306f\u30ca\u30ce\u79d2\u306a\u306e\u3067\u79d2\u306b\u63db\u7b97\u3057\u3066&#8221;vTimeStamps&#8221;\u306b\u5165\u308c\u307e\u3059\u3002<\/li>\n\n\n\n<li>\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u306fEuRoc\/MH01\/mav0\/cam0\/data\u4ee5\u4e0b\u306b\u4fdd\u5b58\u3055\u308c\u3066\u3044\u308b\u30ab\u30e1\u30e9\u753b\u50cf\u306e\u30d5\u30a1\u30a4\u30eb\u540d[=\u30ca\u30ce\u79d2\u6642\u523b.png]\u306e\u6307\u5b9a\u306b\u3082\u5229\u7528\u3055\u308c\u3001\u753b\u50cf\u30d1\u30b9\u3092&#8221;vstrImageFilenames&#8221;\u306b\u683c\u7d0d\u3055\u308c\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<p><strong>LoadIMU\u95a2\u6570\u306e\u51e6\u7406\u6982\u8981<\/strong> [276-310\u884c\u76ee]<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>EuRoc\/MH01\/mav0\/imu0\/data.csv\u30d5\u30a1\u30a4\u30eb\u3092\u8aad\u307f\u8fbc\u307f\u307e\u3059\u3002<\/li>\n\n\n\n<li>data.csv\u306e\u4e2d\u8eab\u3092\uff11\u884c\u3065\u3064\u53d6\u308a\u51fa\u3057\u3066\u30d1\u30fc\u30b9\u3057\u307e\u3059[\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u3001gyro x, y, z, inertial x, y, z]<\/li>\n\n\n\n<li>\u30d1\u30fc\u30b9\u3057\u305f\u30c7\u30fc\u30bf\u3092&#8221;vTimeStamps&#8221;,&#8221;vAcc&#8221;,&#8221;vGyro&#8221;\u306b\u683c\u7d0d\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/li>\n<\/ul>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<p><strong>IMU\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u306e\u958b\u59cb\u4f4d\u7f6e\u306e\u8a2d\u5b9a<\/strong><\/p>\n\n\n\n<p>\u30ab\u30e1\u30e9\u753b\u50cf\u306e\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u3068IMU\u306e\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u306f\u305d\u308c\u305e\u308c\u5225\u3005\u306a\u306e\u3067\u3001\u30ab\u30e1\u30e9\u30d5\u30ec\u30fc\u30e0\u306e\u6700\u521d\u306e\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u3088\u308a\u3082\u65e9\u3044IMU\u30c7\u30fc\u30bf\u3092\u30b9\u30ad\u30c3\u30d7\u3057\u3001\u5bfe\u5fdc\u3059\u308b\u6700\u521d\u306eIMU\u30c7\u30fc\u30bf\u306e\u30a4\u30f3\u30c7\u30c3\u30af\u30b9\u3092\u8a2d\u5b9a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"while(vTimestampsImu[seq][first_imu[seq]] &lt;= vTimestampsCam[seq][0])\n    first_imu[seq]++;\nfirst_imu[seq]--; \/\/ first imu measurement to be considered\n\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #C586C0\">while<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #9CDCFE\">vTimestampsImu<\/span><span style=\"color: #D4D4D4\">[seq][<\/span><span style=\"color: #9CDCFE\">first_imu<\/span><span style=\"color: #D4D4D4\">[seq]] &lt;= <\/span><span style=\"color: #9CDCFE\">vTimestampsCam<\/span><span style=\"color: #D4D4D4\">[seq][<\/span><span style=\"color: #B5CEA8\">0<\/span><span style=\"color: #D4D4D4\">])<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #9CDCFE\">first_imu<\/span><span style=\"color: #D4D4D4\">[seq]++;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #9CDCFE\">first_imu<\/span><span style=\"color: #D4D4D4\">[seq]--;<\/span><span style=\"color: #6A9955\"> \/\/ first imu measurement to be considered<\/span><\/span>\n<span class=\"line\"><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"SLAM%E3%82%B7%E3%82%B9%E3%83%86%E3%83%A0%E3%81%AE%E5%88%9D%E6%9C%9F%E5%8C%96\"><\/span>SLAM\u30b7\u30b9\u30c6\u30e0\u306e\u521d\u671f\u5316<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u4e0b\u8a18\u306e\u30b3\u30fc\u30c9\u3067\u521d\u671f\u5316\u3057\u3066\u3044\u307e\u3059\u3002\u6700\u5f8c\u306e\u5f15\u6570\u306fviewer\u306e\u4f7f\u7528\/\u4e0d\u4f7f\u7528\u3092\u5207\u308a\u66ff\u3048\u308b\u5909\u6570\u3067\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"\/\/ Create SLAM system. It initializes all system threads and gets ready to process frames.\nORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_MONOCULAR, true);\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\">\/\/ Create SLAM system. It initializes all system threads and gets ready to process frames.<\/span><\/span>\n<span class=\"line\"><span style=\"color: #4EC9B0\">ORB_SLAM3<\/span><span style=\"color: #D4D4D4\">::<\/span><span style=\"color: #4EC9B0\">System<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #DCDCAA\">SLAM<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #4EC9B0\">argv<\/span><span style=\"color: #D4D4D4\">[<\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">],<\/span><span style=\"color: #4EC9B0\">argv<\/span><span style=\"color: #D4D4D4\">[<\/span><span style=\"color: #B5CEA8\">2<\/span><span style=\"color: #D4D4D4\">],<\/span><span style=\"color: #4EC9B0\">ORB_SLAM3<\/span><span style=\"color: #D4D4D4\">::<\/span><span style=\"color: #4EC9B0\">System<\/span><span style=\"color: #D4D4D4\">::<\/span><span style=\"color: #4EC9B0\">IMU_MONOCULAR<\/span><span style=\"color: #D4D4D4\">, <\/span><span style=\"color: #4EC9B0\">true<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%A1%E3%82%A4%E3%83%B3%E3%83%AB%E3%83%BC%E3%83%97\"><\/span>\u30e1\u30a4\u30f3\u30eb\u30fc\u30d7<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>SLAM\u306e\u30e1\u30a4\u30f3\u306e\u51e6\u7406\u3067\u3059\u3002<\/p>\n\n\n\n<p>\u3068\u8a00\u3063\u3066\u3082\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30e6\u30fc\u30b6\u30fc\u3068\u3057\u3066\u306f\u753b\u50cf\u3068IMU\u30c7\u30fc\u30bf\u3092\u6e21\u3059\u3060\u3051\u3067\u3059\u304c\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>vstrImageFilenames\u304b\u3089OpenCV\u3092\u4f7f\u3063\u3066\u4e00\u3064\u753b\u50cf\u3092\u8aad\u8fbc<\/strong> [137\u884c\u76ee]<\/li>\n\n\n\n<li><strong>imageScale [System\u30af\u30e9\u30b9\u306eGetImageScale()\u3067\u5f97\u3089\u308c\u308b\u5024]\u304c1\u4ee5\u4e0a\u306e\u5834\u5408\u306f\u30ea\u30b5\u30a4\u30ba\u3092\u5b9f\u884c<\/strong> [148-169\u884c\u76ee]\n<ul class=\"wp-block-list\">\n<li>REGISTER_TIMES\u30aa\u30d7\u30b7\u30e7\u30f3\u304c\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u5834\u5408\u306f\u30ea\u30b5\u30a4\u30ba\u51e6\u7406\u6642\u9593\u3092InsertResizeTime()\u3067\u4fdd\u5b58\u3057\u3066\u3044\u304d\u307e\u3059<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>IMU\u30c7\u30fc\u30bf\u306e\u691c\u7d22<\/strong> [174-185\u884c\u76ee]\n<ul class=\"wp-block-list\">\n<li>IMU\u30c7\u30fc\u30bf\u306e\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u304c\u30ab\u30e1\u30e9\u306e\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u6642\u523b\u4ee5\u4e0b\u3067\u3042\u308b\u5834\u5408\u3092\u78ba\u8a8d<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u5b9f\u884c<\/strong> 195\u884c\u76ee\n<ul class=\"wp-block-list\">\n<li>\u753b\u50cf\u3001(\u753b\u50cf\u306e)\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u3001IMU\u30c7\u30fc\u30bf\u3092\u5f15\u6570\u306bTrackMonocular\u95a2\u6570\u3078\u6e21\u3057\u307e\u3059<\/li>\n\n\n\n<li>REGISTER_TIMES\u30aa\u30d7\u30b7\u30e7\u30f3\u304c\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u5834\u5408\u306fInsertTrackTime()\u3067\u51e6\u7406\u6642\u9593\u3092\u4fdd\u5b58\u3057\u307e\u3059\u3002[\u753b\u50cf\u306e\u30ea\u30b5\u30a4\u30ba\u3068\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u306b\u639b\u304b\u3063\u305f\u6642\u9593\u306e\u548c]<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u5f85\u6a5f\u6642\u9593\u306e\u8abf\u6574<\/strong> [208-223\u884c\u76ee]\n<ul class=\"wp-block-list\">\n<li>TrackMonocular\u95a2\u6570\u306e\u51e6\u7406\u6642\u9593\u3092\u8a08\u7b97<\/li>\n\n\n\n<li>\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u30c7\u30fc\u30bf\u304b\u3089\u306e\u8a08\u7b97\u4e0a\u306e\u7d4c\u904e\u6642\u9593\u3092\u7b97\u51fa\n<ul class=\"wp-block-list\">\n<li>&#8220;ni&lt;nImages[seq]-1&#8243;\u306f\u73fe\u5728\u306e\u30d5\u30ec\u30fc\u30e0\u304c\u6700\u5f8c\u3067\u306f\u306a\u3044\u5834\u5408\u3001 &#8220;ni > 0&#8243;\u306f\u73fe\u5728\u306e\u30d5\u30ec\u30fc\u30e0\u304c\u6700\u521d\u306e\u30d5\u30ec\u30fc\u30e0\u3067\u306f\u306a\u3044\u5834\u5408<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li>\u30aa\u30d5\u30e9\u30a4\u30f3\u306e\u51e6\u7406\u304c\u901f\u3059\u304e\u308b\u5834\u5408\u306f\u3001\u30bf\u30a4\u30e0\u30b9\u30bf\u30f3\u30d7\u30c7\u30fc\u30bf\u306b\u5408\u308f\u305b\u3066\u30b9\u30ea\u30fc\u30d7\u3092\u304b\u3051\u308b<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%87%E3%83%BC%E3%82%BF%E3%82%BB%E3%83%83%E3%83%88%E3%81%AE%E5%A4%89%E6%9B%B4\"><\/span>\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u306e\u5909\u66f4<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u8d77\u52d5\u6642\u306e\u30aa\u30d7\u30b7\u30e7\u30f3\u5f15\u6570\u3067\u8907\u6570\u306e\u30b7\u30fc\u30b1\u30f3\u30b9\u30c7\u30fc\u30bf\u3092\u6e21\u3057\u3066\u3044\u308b\u5834\u5408\u306f\u6b21\u306e\u30b7\u30fc\u30b1\u30f3\u30b9\u51e6\u7406\u306b\u79fb\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"if(seq &lt; num_seq - 1)\n{\n    cout &lt;&lt; &quot;Changing the dataset&quot; &lt;&lt; endl;\n\n    SLAM.ChangeDataset();\n}\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #C586C0\">if<\/span><span style=\"color: #D4D4D4\">(seq &lt; num_seq - <\/span><span style=\"color: #B5CEA8\">1<\/span><span style=\"color: #D4D4D4\">)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">{<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    cout &lt;&lt; <\/span><span style=\"color: #CE9178\">&quot;Changing the dataset&quot;<\/span><span style=\"color: #D4D4D4\"> &lt;&lt; endl;<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">    <\/span><span style=\"color: #9CDCFE\">SLAM<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">ChangeDataset<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">}<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%B5%82%E4%BA%86%E5%87%A6%E7%90%86\"><\/span>\u7d42\u4e86\u51e6\u7406<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u7d42\u4e86\u306f&#8221;SLAM.Shutdown();&#8221;\u3067\u884c\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<div class=\"wp-block-kevinbatdorf-code-block-pro\" data-code-block-pro-font-family=\"Code-Pro-JetBrains-Mono\" style=\"font-size:.875rem;font-family:Code-Pro-JetBrains-Mono,ui-monospace,SFMono-Regular,Menlo,Monaco,Consolas,monospace;line-height:1.25rem;--cbp-tab-width:2;tab-size:var(--cbp-tab-width, 2)\"><span style=\"display:block;padding:16px 0 0 16px;margin-bottom:-1px;width:100%;text-align:left;background-color:#1E1E1E\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" width=\"54\" height=\"14\" viewBox=\"0 0 54 14\"><g fill=\"none\" fill-rule=\"evenodd\" transform=\"translate(1 1)\"><circle cx=\"6\" cy=\"6\" r=\"6\" fill=\"#FF5F56\" stroke=\"#E0443E\" stroke-width=\".5\"><\/circle><circle cx=\"26\" cy=\"6\" r=\"6\" fill=\"#FFBD2E\" stroke=\"#DEA123\" stroke-width=\".5\"><\/circle><circle cx=\"46\" cy=\"6\" r=\"6\" fill=\"#27C93F\" stroke=\"#1AAB29\" stroke-width=\".5\"><\/circle><\/g><\/svg><\/span><span role=\"button\" tabindex=\"0\" data-code=\"\/\/ Stop all threads\nSLAM.Shutdown();\" style=\"color:#D4D4D4;display:none\" aria-label=\"Copy\" class=\"code-block-pro-copy-button\"><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"width:24px;height:24px\" fill=\"none\" viewBox=\"0 0 24 24\" stroke=\"currentColor\" stroke-width=\"2\"><path class=\"with-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2m-6 9l2 2 4-4\"><\/path><path class=\"without-check\" stroke-linecap=\"round\" stroke-linejoin=\"round\" d=\"M9 5H7a2 2 0 00-2 2v12a2 2 0 002 2h10a2 2 0 002-2V7a2 2 0 00-2-2h-2M9 5a2 2 0 002 2h2a2 2 0 002-2M9 5a2 2 0 012-2h2a2 2 0 012 2\"><\/path><\/svg><\/span><pre class=\"shiki dark-plus\" style=\"background-color: #1E1E1E\" tabindex=\"0\"><code><span class=\"line\"><span style=\"color: #6A9955\">\/\/ Stop all threads<\/span><\/span>\n<span class=\"line\"><span style=\"color: #9CDCFE\">SLAM<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #DCDCAA\">Shutdown<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span><\/code><\/pre><\/div>\n","protected":false},"excerpt":{"rendered":"<p>\u524d\u56de\u306b\u7d9a\u3044\u3066\u4eca\u56de\u306fExamples\u30d5\u30a9\u30eb\u30c0\u3092\u898b\u3066\u3044\u304d\u305f\u3044\u3068\u601d\u3044\u307e\u3059\u3002 ORB-SLAM3\u306f\u5358\u773c\u3001RGB-D\u3001\u30b9\u30c6\u30ec\u30aa\u30ab\u30e1\u30e9\u306e3\u30bf\u30a4\u30d7\u306e\u5165\u529b\u3068IMU[\u52a0\u901f\u5ea6]\u6709\u308a\u7121\u3057\u306e\u8a086\u30d1\u30bf\u30fc\u30f3\u306b\u5bfe\u5fdc\u3057\u3066\u3044\u308b\u306e\u3067Examples\u30d5\u30a9\u30eb\u30c0 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":1142,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[4],"tags":[39,38],"class_list":["post-1122","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-tech","tag-orb-slam3","tag-slam"],"_links":{"self":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1122","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=1122"}],"version-history":[{"count":19,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1122\/revisions"}],"predecessor-version":[{"id":1141,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1122\/revisions\/1141"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/media\/1142"}],"wp:attachment":[{"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=1122"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1122"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1122"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}