一步步实现ORB-SLAM2
1 opencv 测试
http://blog.csdn.net/u010480194/article/details/54288926
测试安装的opencv 版本
my_pc:~/Desktop$ python Python 2.7.6 [GCC 4.8.4] on linux2 Type "help", "copyright", "credits" or "license" for more information. >>> import cv2 >>> cv2.__version__ '2.4.9' >>>
OpenCV测试：
在某个目录下（如OPENCV_TEST）建立一个test.cpp文件：
gedit test.cpp
#include <cv.h>
#include <highgui.h>
using namespace cv;
int main(int argc, char* argv[])
{
Mat image;
image = imread("1.jpg");
namedWindow("Display Image", CV_WINDOW_AUTOSIZE);
imshow("Display Image", image);
waitKey(0);
return 0;
}
写一个cmake的makefile，也叫CMakeLists.txt：
gedit CMakeLists.txt
project(test)
find_package(OpenCV REQUIRED)
add_executable(test test)
target_link_libraries(test ${OpenCV_LIBS})
cmake_minimum_required(VERSION 2.8)
编译+运行
cmake .
make
./test
得到可执行文件
2 SGBM 双目计算深度
http://blog.csdn.net/liulina603/article/details/53302168
(1)在上一步的基础上,test.cpp代码替换
#include <highgui.h>
#include <cv.h>
#include <cxcore.h>
#include <iostream>
using namespace std;
using namespace cv;
int main()
{
IplImage * img1 = cvLoadImage("left.png",0);
IplImage * img2 = cvLoadImage("right.png",0);
cv::StereoSGBM sgbm;
int SADWindowSize = 9;
sgbm.preFilterCap = 63;
sgbm.SADWindowSize = SADWindowSize > 0 ? SADWindowSize : 3;
int cn = img1->nChannels;
int numberOfDisparities=64;
sgbm.P1 = 8*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
sgbm.P2 = 32*cn*sgbm.SADWindowSize*sgbm.SADWindowSize;
sgbm.minDisparity = 0;
sgbm.numberOfDisparities = numberOfDisparities;
sgbm.uniquenessRatio = 10;
sgbm.speckleWindowSize = 100;
sgbm.speckleRange = 32;
sgbm.disp12MaxDiff = 1;
Mat disp, disp8;
int64 t = getTickCount();
sgbm((Mat)img1, (Mat)img2, disp);
t = getTickCount() - t;
cout<<"Time elapsed:"<<t*1000/getTickFrequency()<<endl;
disp.convertTo(disp8, CV_8U, 255/(numberOfDisparities*16.));
namedWindow("left", 1);
cvShowImage("left", img1);
namedWindow("right", 1);
cvShowImage("right", img2);
namedWindow("disparity", 1);
imshow("disparity", disp8);
waitKey();
imwrite("sgbm_disparity.png", disp8);
cvDestroyAllWindows();
return 0;
}
(2)编译+运行
cmake .
make
./test
3 特征点检索
fast特征点