ORB-SLAM2_with_camera_or_video

This is a project modified on the basis of ORB-SLAM2 to use your own camera of PC or video. If you want to know more about ORB-SLAM2, please cite (http://webdiis.unizar.es/~raulmur/orbslam)

The whole project is tested in Ubuntu Platorforms

Prerequisites needed for compiling and running the raw ORB-SLAM2

Please cite(https://github.com/raulmur/ORB_SLAM2) for more details.

How to use this demo

1. Replace the raw CMakeLists.txt(Path:XXX/ORB_SLAM2/CMakeLists.txt) with new CMakeLists.txt

2. Create a new folder named Myslam（Path:XXX/ORB_SLAM2/Examples/Myslam)

3. Move myslam.cpp myslam.yaml myvideo.cpp myvideo.yaml to Myslam folder

4. Modify your path in myslam.cpp and myvideo.cpp. For examples:
   in myslam.cpp
   string parameterFile = "XXX/ORB_SLAM2/Examples/Myslam/myslam.yaml";
   string vocFile = "XXX/ORB_SLAM2/Vocabulary/ORBvoc.txt";

   in myvideo.cpp
   string parameterFile = "XXX/ORB_SLAM2/Examples/Myslam/myslam.yaml";
   string vocFile = "XXX/ORB_SLAM2/Vocabulary/ORBvoc.txt";
   string videoFile = "XXX/XXX.mp4";(Prepare by yourself)

5. Re-build all programs like raw ORB-SLAM2

6. Run Current operating environment:XXX/ORB_SLAM2
   ./Examples/Myslam/myvideo
   or
   ./Examples/Myslam/myslam

Result

camera

video