{"id":1147,"date":"2024-07-02T16:45:14","date_gmt":"2024-07-02T07:45:14","guid":{"rendered":"https:\/\/elosove.com\/?p=1147"},"modified":"2024-07-02T16:45:14","modified_gmt":"2024-07-02T07:45:14","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%b0-3-%e3%83%a1%e3%82%a4%e3%83%b3%e5%87%a6%e7%90%86%e3%81%ae%e6%a6%82%e8%a6%81","status":"publish","type":"post","link":"https:\/\/elosove.com\/?p=1147","title":{"rendered":"ORB-SLAM3\u306e\u30b3\u30fc\u30c9\u30ea\u30fc\u30c7\u30a3\u30f3\u30b0 #3 | \u30e1\u30a4\u30f3\u51e6\u7406\u306e\u6982\u8981"},"content":{"rendered":"\n<p><a href=\"https:\/\/elosove.com\/?p=1122\" data-type=\"link\" data-id=\"https:\/\/elosove.com\/?p=1122\">\u524d\u56de<\/a>\u306fMonocular-Inertial\u306e\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9[mono_inertial_euroc.cc]\u3092\u898b\u3066\u307f\u305f\u306e\u3067\u3001\u4eca\u56de\u306f\u672c\u4f53\u306eSystem[.cc\/.h]\u306b\u3064\u3044\u3066\u51e6\u7406\u5185\u5bb9\u306e\u30e1\u30e2\u3092\u66f8\u3044\u3066\u307f\u307e\u3059\u3002<\/p>\n\n\n\n<p>ORB-SLAM3\u306e\u672c\u4f53\u306finclude\u3001src\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u3042\u308a\uff12\u3064\u306e\u30d8\u30c3\u30c0\u30d5\u30a1\u30a4\u30eb\u3092\u9664\u3044\u3066\u4e00\u5bfe\u4e00\u5bfe\u5fdc\u3059\u308b\u3088\u3046\u306b\u4f5c\u6210\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u305d\u308c\u305e\u308c\u306e\u30d5\u30a1\u30a4\u30eb\u306e\u51e6\u7406\u3092\u4f55\u3068\u306a\u304f\u5206\u985e\u3057\u3066\u307f\u308b\u3068\u4e0b\u56f3\u306e\u3088\u3046\u306a\u611f\u3058\u306b\u306a\u308b\u3068\u601d\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<figure class=\"wp-block-image size-full is-resized\"><img loading=\"lazy\" decoding=\"async\" width=\"738\" height=\"650\" src=\"https:\/\/elosove.com\/wp-content\/uploads\/2024\/07\/orb-slam-class.png\" alt=\"\" class=\"wp-image-1149\" style=\"width:840px;height:auto\" srcset=\"https:\/\/elosove.com\/wp-content\/uploads\/2024\/07\/orb-slam-class.png 738w, https:\/\/elosove.com\/wp-content\/uploads\/2024\/07\/orb-slam-class-300x264.png 300w\" sizes=\"auto, (max-width: 738px) 100vw, 738px\" \/><figcaption class=\"wp-element-caption\"><strong>\u6ce8\uff1a\u30b3\u30fc\u30c9\u30ea\u30fc\u30c7\u30a3\u30f3\u30b0\u524d\u306e\u3056\u3063\u304f\u308a\u5206\u3051\u306a\u306e\u3067\u6b63\u78ba\u3067\u306f\u306a\u3044\u3067\u3059<\/strong><\/figcaption><\/figure>\n\n\n\n<p>\u3088\u3046\u3059\u308b\u306b\u4eca\u56de\u8abf\u3079\u308bSystem\u30af\u30e9\u30b9\u306fORB-SLAM3\u3092\u52d5\u304b\u3059\u30a8\u30f3\u30c8\u30ea\u30fc\u30dd\u30a4\u30f3\u30c8\u7684\u306a\u5f79\u5272\u3092\u62c5\u3063\u3066\u3044\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=1147\/#System_System\" title=\"System::System\">System::System<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-2\" href=\"https:\/\/elosove.com\/?p=1147\/#%E3%83%A1%E3%83%83%E3%82%BB%E3%83%BC%E3%82%B8_%E5%8B%95%E4%BD%9C%E3%83%A2%E3%83%BC%E3%83%89\" title=\"\u30e1\u30c3\u30bb\u30fc\u30b8&amp;\u52d5\u4f5c\u30e2\u30fc\u30c9\">\u30e1\u30c3\u30bb\u30fc\u30b8&amp;\u52d5\u4f5c\u30e2\u30fc\u30c9<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-3\" href=\"https:\/\/elosove.com\/?p=1147\/#%E8%A8%AD%E5%AE%9A%E5%80%A4%E3%83%95%E3%82%A1%E3%82%A4%E3%83%AByaml%E3%81%AE%E5%B1%95%E9%96%8B\" title=\"\u8a2d\u5b9a\u5024\u30d5\u30a1\u30a4\u30eb[.yaml]\u306e\u5c55\u958b\">\u8a2d\u5b9a\u5024\u30d5\u30a1\u30a4\u30eb[.yaml]\u306e\u5c55\u958b<\/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=1147\/#Atlas%E9%96%A2%E9%80%A3%E3%82%A4%E3%83%B3%E3%82%B9%E3%82%BF%E3%83%B3%E3%82%B9%E7%94%9F%E6%88%90\" title=\"Atlas\u95a2\u9023\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210\">Atlas\u95a2\u9023\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210<\/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=1147\/#%E3%83%93%E3%83%A5%E3%83%AF%E3%83%BC%E7%94%A8%E5%A4%89%E6%95%B0%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%82%BF%E3%83%B3%E3%82%B9%E7%94%9F%E6%88%90\" title=\"\u30d3\u30e5\u30ef\u30fc\u7528\u5909\u6570\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210\">\u30d3\u30e5\u30ef\u30fc\u7528\u5909\u6570\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210<\/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=1147\/#%E4%B8%BB%E8%A6%81%E3%82%B9%E3%83%AC%E3%83%83%E3%83%89%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%82%BF%E3%83%B3%E3%82%B9%E7%94%9F%E6%88%90\" title=\"\u4e3b\u8981\u30b9\u30ec\u30c3\u30c9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210\">\u4e3b\u8981\u30b9\u30ec\u30c3\u30c9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210<\/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=1147\/#%E3%82%B9%E3%83%AC%E3%83%83%E3%83%89%E9%96%93%E3%81%AE%E3%82%A2%E3%82%AF%E3%82%BB%E3%82%B9%E3%83%9D%E3%82%A4%E3%83%B3%E3%83%88%E8%A8%AD%E5%AE%9A\" title=\"\u30b9\u30ec\u30c3\u30c9\u9593\u306e\u30a2\u30af\u30bb\u30b9\u30dd\u30a4\u30f3\u30c8\u8a2d\u5b9a\">\u30b9\u30ec\u30c3\u30c9\u9593\u306e\u30a2\u30af\u30bb\u30b9\u30dd\u30a4\u30f3\u30c8\u8a2d\u5b9a<\/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=1147\/#Viewer%E3%82%B9%E3%83%AC%E3%83%83%E3%83%89%E9%96%8B%E5%A7%8B\" title=\"Viewer\u30b9\u30ec\u30c3\u30c9\u958b\u59cb\">Viewer\u30b9\u30ec\u30c3\u30c9\u958b\u59cb<\/a><\/li><\/ul><\/li><li class='ez-toc-page-1 ez-toc-heading-level-2'><a class=\"ez-toc-link ez-toc-heading-9\" href=\"https:\/\/elosove.com\/?p=1147\/#System_TrackMonocular\" title=\"System::TrackMonocular\">System::TrackMonocular<\/a><ul class='ez-toc-list-level-3' ><li class='ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-10\" href=\"https:\/\/elosove.com\/?p=1147\/#%E3%83%AA%E3%82%BB%E3%83%83%E3%83%88%E5%87%A6%E7%90%86\" title=\"\u30ea\u30bb\u30c3\u30c8\u51e6\u7406\">\u30ea\u30bb\u30c3\u30c8\u51e6\u7406<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-11\" href=\"https:\/\/elosove.com\/?p=1147\/#%E3%82%BB%E3%83%B3%E3%82%B5%E3%82%BF%E3%82%A4%E3%83%97%E3%81%AE%E7%A2%BA%E8%AA%8D\" title=\"\u30bb\u30f3\u30b5\u30bf\u30a4\u30d7\u306e\u78ba\u8a8d\">\u30bb\u30f3\u30b5\u30bf\u30a4\u30d7\u306e\u78ba\u8a8d<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-12\" href=\"https:\/\/elosove.com\/?p=1147\/#%E7%94%BB%E5%83%8F%E3%81%AE%E3%83%AA%E3%82%B5%E3%82%A4%E3%82%BA%EF%BC%88%E5%BF%85%E8%A6%81%E3%81%AA%E5%A0%B4%E5%90%88%EF%BC%89\" title=\"\u753b\u50cf\u306e\u30ea\u30b5\u30a4\u30ba\uff08\u5fc5\u8981\u306a\u5834\u5408\uff09\">\u753b\u50cf\u306e\u30ea\u30b5\u30a4\u30ba\uff08\u5fc5\u8981\u306a\u5834\u5408\uff09<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-13\" href=\"https:\/\/elosove.com\/?p=1147\/#%E3%83%AD%E3%83%BC%E3%82%AB%E3%83%A9%E3%82%A4%E3%82%BC%E3%83%BC%E3%82%B7%E3%83%A7%E3%83%B3%E3%83%A2%E3%83%BC%E3%83%89%E5%A4%89%E6%9B%B4%E3%81%AE%E7%A2%BA%E8%AA%8D\" title=\"\u30ed\u30fc\u30ab\u30e9\u30a4\u30bc\u30fc\u30b7\u30e7\u30f3\u30e2\u30fc\u30c9\u5909\u66f4\u306e\u78ba\u8a8d\">\u30ed\u30fc\u30ab\u30e9\u30a4\u30bc\u30fc\u30b7\u30e7\u30f3\u30e2\u30fc\u30c9\u5909\u66f4\u306e\u78ba\u8a8d<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-14\" href=\"https:\/\/elosove.com\/?p=1147\/#%E3%83%AA%E3%82%BB%E3%83%83%E3%83%88%E3%81%AE%E7%A2%BA%E8%AA%8D\" title=\"\u30ea\u30bb\u30c3\u30c8\u306e\u78ba\u8a8d\">\u30ea\u30bb\u30c3\u30c8\u306e\u78ba\u8a8d<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-15\" href=\"https:\/\/elosove.com\/?p=1147\/#IMU%E3%83%87%E3%83%BC%E3%82%BF%E3%81%AE%E5%8F%96%E5%BE%97\" title=\"IMU\u30c7\u30fc\u30bf\u306e\u53d6\u5f97\">IMU\u30c7\u30fc\u30bf\u306e\u53d6\u5f97<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-16\" href=\"https:\/\/elosove.com\/?p=1147\/#%E7%94%BB%E5%83%8F%E3%83%88%E3%83%A9%E3%83%83%E3%82%AD%E3%83%B3%E3%82%B0%E3%81%AE%E5%AE%9F%E8%A1%8C\" title=\"\u753b\u50cf\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u306e\u5b9f\u884c\">\u753b\u50cf\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u306e\u5b9f\u884c<\/a><\/li><li class='ez-toc-page-1 ez-toc-heading-level-3'><a class=\"ez-toc-link ez-toc-heading-17\" href=\"https:\/\/elosove.com\/?p=1147\/#%E3%83%88%E3%83%A9%E3%83%83%E3%82%AD%E3%83%B3%E3%82%B0%E7%8A%B6%E6%85%8B%E3%81%AE%E6%9B%B4%E6%96%B0\" title=\"\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u72b6\u614b\u306e\u66f4\u65b0\">\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u72b6\u614b\u306e\u66f4\u65b0<\/a><\/li><\/ul><\/li><\/ul><\/nav><\/div>\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"System_System\"><\/span>System::System<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p>System.cc\u30d5\u30a1\u30a4\u30eb\u306e41\u884c\u76ee\u304b\u3089\u59cb\u307e\u308bSystem\u95a2\u6570\u304c\u30b7\u30b9\u30c6\u30e0\u306e\u5168\u4f53\u306e\u521d\u671f\u5316\u3092\u62c5\u5f53\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3061\u306a\u307f\u306b\u5909\u6570\u540d\u306e\u63a5\u982d\u8f9e\u306f\u6050\u3089\u304f\u4e0b\u8a18\u306e\u3088\u3046\u306a\u610f\u5473<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>m\uff5e\uff1amember<\/li>\n\n\n\n<li>b\uff5e\uff1aboolean<\/li>\n\n\n\n<li>mb\uff5e\uff1amember boolean<\/li>\n\n\n\n<li>mp\uff5e\uff1amember pointer<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%A1%E3%83%83%E3%82%BB%E3%83%BC%E3%82%B8_%E5%8B%95%E4%BD%9C%E3%83%A2%E3%83%BC%E3%83%89\"><\/span>\u30e1\u30c3\u30bb\u30fc\u30b8&amp;\u52d5\u4f5c\u30e2\u30fc\u30c9<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>SLAM\u8d77\u52d5\u6642\u306e\u30e1\u30c3\u30bb\u30fc\u30b8\u3068\u30bb\u30f3\u30b5\u30bf\u30a4\u30d7\u306e\u78ba\u8a8d\u30e1\u30c3\u30bb\u30fc\u30b8\u304c\u8868\u793a\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E8%A8%AD%E5%AE%9A%E5%80%A4%E3%83%95%E3%82%A1%E3%82%A4%E3%83%AByaml%E3%81%AE%E5%B1%95%E9%96%8B\"><\/span>\u8a2d\u5b9a\u5024\u30d5\u30a1\u30a4\u30eb[.yaml]\u306e\u5c55\u958b<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u5f15\u6570\u306estrSettingsFile\u304b\u3089\u8a2d\u5b9a\u5024\u30d5\u30a1\u30a4\u30eb.yaml\u3092\u958b\u3044\u3066\u4e0b\u8a18\u306e\u51e6\u7406\u3092\u3057\u3066\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=\"\/\/Check settings file \u2190 \u30b3\u30e1\u30f3\u30c8\u4ee5\u4e0b\u306e\u51e6\u7406\" 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\">\/\/Check settings file \u2190 \u30b3\u30e1\u30f3\u30c8\u4ee5\u4e0b\u306e\u51e6\u7406<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<ul class=\"wp-block-list\">\n<li>atlas\u30d5\u30a1\u30a4\u30eb\u306e\u8a2d\u5b9a<\/li>\n\n\n\n<li>loopClosing\u306e\u8d77\u52d5\u30d5\u30e9\u30b0 | \u8a2d\u5b9a\u5024\u30d5\u30a1\u30a4\u30eb\u306b\u8a18\u8f09\u304c\u7121\u3044\u5834\u5408\u306f\u30a2\u30af\u30c6\u30a3\u30d6\u72b6\u614b\u306b\u306a\u308a\u307e\u3059<\/li>\n\n\n\n<li>vocabrary file path\u306e\u4fdd\u6301<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Atlas%E9%96%A2%E9%80%A3%E3%82%A4%E3%83%B3%E3%82%B9%E3%82%BF%E3%83%B3%E3%82%B9%E7%94%9F%E6%88%90\"><\/span>Atlas\u95a2\u9023\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>112\u884c\u76ee\u4ed8\u8fd1\u304b\u3089ORB-SLAM\u306b\u5fc5\u8981\u306a\u4e3b\u8981\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u3092\u751f\u6210\u3057\u3066\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>ORBVocabulary<\/li>\n\n\n\n<li>KeyFrameDatabase<\/li>\n\n\n\n<li>Atlas \/ atlas\u30d5\u30a1\u30a4\u30eb\u304c\u5b58\u5728\u3059\u308b\u5834\u5408\u3001System::LoadAtlas\u95a2\u6570\u304b\u3089\u751f\u6210<\/li>\n<\/ul>\n\n\n\n<p>IMU\u30bb\u30f3\u30b5\u3042\u308a\u306e\u5834\u5408\u3001Atlas\u30af\u30e9\u30b9\u306b\u8a2d\u5b9a<\/p>\n\n\n\n<p>new\u90e8\u5206\u3092\u7e8f\u3081\u308b\u3068\u4e0b\u8a18<\/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=\"mpVocabulary = new ORBVocabulary();\nmpKeyFrameDatabase = new KeyFrameDatabase(*mpVocabulary);\nmpAtlas = new Atlas(0); \u53c8\u306f bool isRead = LoadAtlas(FileType::BINARY_FILE);\n\n\/\/IMU\u30bb\u30f3\u30b5\u3042\u308a\u306e\u5834\u5408\nif (mSensor==IMU_STEREO || mSensor==IMU_MONOCULAR || mSensor==IMU_RGBD)\n        mpAtlas-&gt;SetInertialSensor();\" 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: #D4D4D4\">mpVocabulary = <\/span><span style=\"color: #C586C0\">new<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #DCDCAA\">ORBVocabulary<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">mpKeyFrameDatabase = <\/span><span style=\"color: #C586C0\">new<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #DCDCAA\">KeyFrameDatabase<\/span><span style=\"color: #D4D4D4\">(*mpVocabulary);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">mpAtlas = <\/span><span style=\"color: #C586C0\">new<\/span><span style=\"color: #D4D4D4\"> <\/span><span style=\"color: #DCDCAA\">Atlas<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #B5CEA8\">0<\/span><span style=\"color: #D4D4D4\">); \u53c8\u306f <\/span><span style=\"color: #569CD6\">bool<\/span><span style=\"color: #D4D4D4\"> isRead = <\/span><span style=\"color: #DCDCAA\">LoadAtlas<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #4EC9B0\">FileType<\/span><span style=\"color: #D4D4D4\">::BINARY_FILE);<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #6A9955\">\/\/IMU\u30bb\u30f3\u30b5\u3042\u308a\u306e\u5834\u5408<\/span><\/span>\n<span class=\"line\"><span style=\"color: #C586C0\">if<\/span><span style=\"color: #D4D4D4\"> (mSensor==IMU_STEREO || mSensor==IMU_MONOCULAR || mSensor==IMU_RGBD)<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">        <\/span><span style=\"color: #9CDCFE\">mpAtlas<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #DCDCAA\">SetInertialSensor<\/span><span style=\"color: #D4D4D4\">();<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%93%E3%83%A5%E3%83%AF%E3%83%BC%E7%94%A8%E5%A4%89%E6%95%B0%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%82%BF%E3%83%B3%E3%82%B9%E7%94%9F%E6%88%90\"><\/span>\u30d3\u30e5\u30ef\u30fc\u7528\u5909\u6570\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>FrameDrawer<\/li>\n\n\n\n<li>MapDrawer<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E4%B8%BB%E8%A6%81%E3%82%B9%E3%83%AC%E3%83%83%E3%83%89%E3%81%AE%E3%82%A4%E3%83%B3%E3%82%B9%E3%82%BF%E3%83%B3%E3%82%B9%E7%94%9F%E6%88%90\"><\/span>\u4e3b\u8981\u30b9\u30ec\u30c3\u30c9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<ul class=\"wp-block-list\">\n<li>Tracking<\/li>\n\n\n\n<li>LocalMapping<\/li>\n\n\n\n<li>LoopClosing<\/li>\n<\/ul>\n\n\n\n<p>Atlas\u30af\u30e9\u30b9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u306f\u751f\u6210\u6e08\u307f\u306a\u306e\u3067\u3001\u3053\u308c\u3067\u4e3b\u8981\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306f\u5168\u3066\u8d77\u52d5\u5b8c\u4e86\u3067\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%B9%E3%83%AC%E3%83%83%E3%83%89%E9%96%93%E3%81%AE%E3%82%A2%E3%82%AF%E3%82%BB%E3%82%B9%E3%83%9D%E3%82%A4%E3%83%B3%E3%83%88%E8%A8%AD%E5%AE%9A\"><\/span>\u30b9\u30ec\u30c3\u30c9\u9593\u306e\u30a2\u30af\u30bb\u30b9\u30dd\u30a4\u30f3\u30c8\u8a2d\u5b9a<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30b3\u30fc\u30c9\u305d\u306e\u307e\u307e\u3067\u3059\u304c\u3001\u4e0b\u8a18\u306e\u30b3\u30fc\u30c9\u3067\u5404\u30b9\u30ec\u30c3\u30c9\u9593\u3067\u5171\u6709\u30dd\u30a4\u30f3\u30bf\u3092\u8a2d\u5b9a\u3057\u3066\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=\"\/\/Set pointers between threads\nmpTracker-&gt;SetLocalMapper(mpLocalMapper);\nmpTracker-&gt;SetLoopClosing(mpLoopCloser);\n\nmpLocalMapper-&gt;SetTracker(mpTracker);\nmpLocalMapper-&gt;SetLoopCloser(mpLoopCloser);\n\nmpLoopCloser-&gt;SetTracker(mpTracker);\nmpLoopCloser-&gt;SetLocalMapper(mpLocalMapper);\" 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\">\/\/Set pointers between threads<\/span><\/span>\n<span class=\"line\"><span style=\"color: #9CDCFE\">mpTracker<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #DCDCAA\">SetLocalMapper<\/span><span style=\"color: #D4D4D4\">(mpLocalMapper);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #9CDCFE\">mpTracker<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #DCDCAA\">SetLoopClosing<\/span><span style=\"color: #D4D4D4\">(mpLoopCloser);<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #9CDCFE\">mpLocalMapper<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #DCDCAA\">SetTracker<\/span><span style=\"color: #D4D4D4\">(mpTracker);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #9CDCFE\">mpLocalMapper<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #DCDCAA\">SetLoopCloser<\/span><span style=\"color: #D4D4D4\">(mpLoopCloser);<\/span><\/span>\n<span class=\"line\"><\/span>\n<span class=\"line\"><span style=\"color: #9CDCFE\">mpLoopCloser<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #DCDCAA\">SetTracker<\/span><span style=\"color: #D4D4D4\">(mpTracker);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #9CDCFE\">mpLoopCloser<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #DCDCAA\">SetLocalMapper<\/span><span style=\"color: #D4D4D4\">(mpLocalMapper);<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"Viewer%E3%82%B9%E3%83%AC%E3%83%83%E3%83%89%E9%96%8B%E5%A7%8B\"><\/span>Viewer\u30b9\u30ec\u30c3\u30c9\u958b\u59cb<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30d3\u30e5\u30ef\u30fc\u7528\u5909\u6570\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u751f\u6210\u3067\u751f\u6210\u3057\u305f\u5909\u6570\u3092Vierwer\u30af\u30e9\u30b9\u306b\u30bb\u30c3\u30c8\u3057\u307e\u3059\u3002<br>(bUseViewer\u304ctrue\u306e\u5834\u5408)<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u304c\u3056\u3063\u304f\u308a\u3068\u3057\u305f\u30b7\u30b9\u30c6\u30e0\u5168\u4f53\u306e\u521d\u671f\u5316\u306e\u6d41\u308c\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<h2 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"System_TrackMonocular\"><\/span>System::TrackMonocular<span class=\"ez-toc-section-end\"><\/span><\/h2>\n\n\n\n<p><a href=\"https:\/\/elosove.com\/?p=1122\" data-type=\"link\" data-id=\"https:\/\/elosove.com\/?p=1122\">\u524d\u56de<\/a>\u306fMonocular-Inertial\u306e\u30b5\u30f3\u30d7\u30eb\u3092\u8aad\u3093\u3060\u306e\u3067\u305d\u306e\u7d9a\u304d\u3068\u3057\u3066\u4eca\u56de\u306fTrackMonocular\u3092\u8aad\u3093\u3067\u3044\u304d\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u3053\u306e\u51e6\u7406\u306fmono_inertial_euroc.cc\u30d5\u30a1\u30a4\u30eb\u5185\u3067\u30c7\u30fc\u30bf\u30bb\u30c3\u30c8\u306e\u30d5\u30ec\u30fc\u30e0\u304c\u5b58\u5728\u3059\u308b\u9650\u308afor\u6587\u3067\u7e70\u308a\u8fd4\u3057\u51e6\u7406\u3092\u3055\u308c\u307e\u3059\u3002<\/p>\n\n\n\n<p>\u30e2\u30ce\u30ab\u30e9\u30fc\u4ee5\u5916\u306b\u30ab\u30e1\u30e9\u30bf\u30a4\u30d7\u5225\u306b\u4e0b\u8a18\u306e\uff12\u3064\u306e\u95a2\u6570\u304c\u7528\u610f\u3055\u308c\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<ul class=\"wp-block-list\">\n<li>TrackStereo | \u30b9\u30c6\u30ec\u30aa\u30ab\u30e1\u30e9<\/li>\n\n\n\n<li>TrackRGBD | \u30ab\u30e9\u30fc&amp;\u30c7\u30d7\u30b9\u30ab\u30e1\u30e9<\/li>\n<\/ul>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%AA%E3%82%BB%E3%83%83%E3%83%88%E5%87%A6%E7%90%86\"><\/span>\u30ea\u30bb\u30c3\u30c8\u51e6\u7406<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30b7\u30b9\u30c6\u30e0\u304c\u30b7\u30e3\u30c3\u30c8\u30c0\u30a6\u30f3\u4e2d\u3067\u3042\u308c\u3070\u3053\u3053\u3067\u51e6\u7406\u7d42\u4e86<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%82%BB%E3%83%B3%E3%82%B5%E3%82%BF%E3%82%A4%E3%83%97%E3%81%AE%E7%A2%BA%E8%AA%8D\"><\/span>\u30bb\u30f3\u30b5\u30bf\u30a4\u30d7\u306e\u78ba\u8a8d<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>System::System\u3067\u6e21\u3055\u308c\u305f\u30bb\u30f3\u30b5\u30bf\u30a4\u30d7\u3068\u9055\u3046\u5834\u5408\u51e6\u7406\u7d42\u4e86<\/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(mSensor!=MONOCULAR &amp;&amp; mSensor!=IMU_MONOCULAR)\" 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\">(mSensor!=MONOCULAR &amp;&amp; mSensor!=IMU_MONOCULAR)<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%94%BB%E5%83%8F%E3%81%AE%E3%83%AA%E3%82%B5%E3%82%A4%E3%82%BA%EF%BC%88%E5%BF%85%E8%A6%81%E3%81%AA%E5%A0%B4%E5%90%88%EF%BC%89\"><\/span>\u753b\u50cf\u306e\u30ea\u30b5\u30a4\u30ba\uff08\u5fc5\u8981\u306a\u5834\u5408\uff09<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u8a2d\u5b9a\u5024\u30d5\u30a1\u30a4\u30eb\u3067\u30ea\u30b5\u30a4\u30ba\u6307\u5b9a\u3057\u305f\u5834\u5408\u51e6\u7406\u304c\u5b9f\u884c\u3055\u308c\u307e\u3059\u3002<br>\u3061\u306a\u307f\u306bmono_inertial_euroc.cc\u5074\u3067\u3082\u30ea\u30b5\u30a4\u30ba\u8a2d\u5b9a\u304c\u3042\u308b\u306e\u3067\uff12\u91cd\u30ea\u30b5\u30a4\u30ba\u3055\u308c\u306a\u3044\u3088\u3046\u306b\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%AD%E3%83%BC%E3%82%AB%E3%83%A9%E3%82%A4%E3%82%BC%E3%83%BC%E3%82%B7%E3%83%A7%E3%83%B3%E3%83%A2%E3%83%BC%E3%83%89%E5%A4%89%E6%9B%B4%E3%81%AE%E7%A2%BA%E8%AA%8D\"><\/span>\u30ed\u30fc\u30ab\u30e9\u30a4\u30bc\u30fc\u30b7\u30e7\u30f3\u30e2\u30fc\u30c9\u5909\u66f4\u306e\u78ba\u8a8d<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30ed\u30fc\u30ab\u30e9\u30a4\u30bc\u30fc\u30b7\u30e7\u30f3\u30e2\u30fc\u30c9\u306e\u6709\u52b9\u7121\u52b9\u3092\u30c1\u30a7\u30c3\u30af\u3057\u3001LocalMapper[LocalMapping\u30af\u30e9\u30b9]\u306e\u51e6\u7406\u6307\u4ee4\u3092\u51fa\u3057\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%AA%E3%82%BB%E3%83%83%E3%83%88%E3%81%AE%E7%A2%BA%E8%AA%8D\"><\/span>\u30ea\u30bb\u30c3\u30c8\u306e\u78ba\u8a8d<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30ea\u30bb\u30c3\u30c8\u6307\u4ee4\u304c\u6765\u305f\u5834\u5408\u306b\u30ea\u30bb\u30c3\u30c8\u51e6\u7406\u3092\u884c\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"IMU%E3%83%87%E3%83%BC%E3%82%BF%E3%81%AE%E5%8F%96%E5%BE%97\"><\/span>IMU\u30c7\u30fc\u30bf\u306e\u53d6\u5f97<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>IMU\u30bb\u30f3\u30b5\u6709\u306e\u5834\u5408\u3001IMU\u304b\u3089\u30c7\u30fc\u30bf\u53d6\u5f97\u3057\u30c8\u30e9\u30c3\u30ab\u30fc\u3078\u30c7\u30fc\u30bf\u3092\u6e21\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=\"mpTracker-&gt;GrabImuData(vImuMeas[i_imu]);\" 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: #9CDCFE\">mpTracker<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #DCDCAA\">GrabImuData<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #9CDCFE\">vImuMeas<\/span><span style=\"color: #D4D4D4\">[i_imu]);<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E7%94%BB%E5%83%8F%E3%83%88%E3%83%A9%E3%83%83%E3%82%AD%E3%83%B3%E3%82%B0%E3%81%AE%E5%AE%9F%E8%A1%8C\"><\/span>\u753b\u50cf\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u306e\u5b9f\u884c<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30c8\u30e9\u30c3\u30ab\u30fc\u3078\u753b\u50cf\u30c7\u30fc\u30bf\u3092\u6e21\u3057\u30ab\u30e1\u30e9\u306e\u4f4d\u7f6e\u3068\u59ff\u52e2\u3092\u53d6\u5f97\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=\"Sophus::SE3f Tcw = mpTracker-&gt;GrabImageMonocular(imToFeed, timestamp, filename);\" 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\">Sophus<\/span><span style=\"color: #D4D4D4\">::SE3f Tcw = <\/span><span style=\"color: #9CDCFE\">mpTracker<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #DCDCAA\">GrabImageMonocular<\/span><span style=\"color: #D4D4D4\">(imToFeed, timestamp, filename);<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<h3 class=\"wp-block-heading\"><span class=\"ez-toc-section\" id=\"%E3%83%88%E3%83%A9%E3%83%83%E3%82%AD%E3%83%B3%E3%82%B0%E7%8A%B6%E6%85%8B%E3%81%AE%E6%9B%B4%E6%96%B0\"><\/span>\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u72b6\u614b\u306e\u66f4\u65b0<span class=\"ez-toc-section-end\"><\/span><\/h3>\n\n\n\n<p>\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u72b6\u614b\u3001\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u3055\u308c\u305f\u30de\u30c3\u30d7\u30dd\u30a4\u30f3\u30c8\u3001\u30ad\u30fc\u70b9\u306e\u4f4d\u7f6e\u3092\u66f4\u65b0\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=\"unique_lock&lt;mutex&gt; lock2(mMutexState);\nmTrackingState = mpTracker-&gt;mState;\nmTrackedMapPoints = mpTracker-&gt;mCurrentFrame.mvpMapPoints;\nmTrackedKeyPointsUn = mpTracker-&gt;mCurrentFrame.mvKeysUn;\" 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\">unique_lock<\/span><span style=\"color: #D4D4D4\">&lt;<\/span><span style=\"color: #4EC9B0\">mutex<\/span><span style=\"color: #D4D4D4\">&gt; <\/span><span style=\"color: #DCDCAA\">lock2<\/span><span style=\"color: #D4D4D4\">(<\/span><span style=\"color: #4EC9B0\">mMutexState<\/span><span style=\"color: #D4D4D4\">);<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">mTrackingState = <\/span><span style=\"color: #9CDCFE\">mpTracker<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #9CDCFE\">mState<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">mTrackedMapPoints = <\/span><span style=\"color: #9CDCFE\">mpTracker<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #9CDCFE\">mCurrentFrame<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">mvpMapPoints<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span>\n<span class=\"line\"><span style=\"color: #D4D4D4\">mTrackedKeyPointsUn = <\/span><span style=\"color: #9CDCFE\">mpTracker<\/span><span style=\"color: #D4D4D4\">-&gt;<\/span><span style=\"color: #9CDCFE\">mCurrentFrame<\/span><span style=\"color: #D4D4D4\">.<\/span><span style=\"color: #9CDCFE\">mvKeysUn<\/span><span style=\"color: #D4D4D4\">;<\/span><\/span><\/code><\/pre><\/div>\n\n\n\n<p>\u3000<\/p>\n\n\n\n<p>\u4ee5\u4e0a\u304c\u30c8\u30e9\u30c3\u30ad\u30f3\u30b0\u51e6\u7406\u6982\u8981\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u524d\u56de\u306fMonocular-Inertial\u306e\u30b5\u30f3\u30d7\u30eb\u30b3\u30fc\u30c9[mono_inertial_euroc.cc]\u3092\u898b\u3066\u307f\u305f\u306e\u3067\u3001\u4eca\u56de\u306f\u672c\u4f53\u306eSystem[.cc\/.h]\u306b\u3064\u3044\u3066\u51e6\u7406\u5185\u5bb9\u306e\u30e1\u30e2\u3092\u66f8\u3044\u3066\u307f\u307e\u3059\u3002 ORB-SLAM3 [&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-1147","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\/1147","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=1147"}],"version-history":[{"count":16,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1147\/revisions"}],"predecessor-version":[{"id":1164,"href":"https:\/\/elosove.com\/index.php?rest_route=\/wp\/v2\/posts\/1147\/revisions\/1164"}],"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=1147"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=1147"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/elosove.com\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=1147"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}