ORBSLAM3跑tum数据集的轨迹与真实轨迹对齐并输出对齐后轨迹文件C++代码

以下是使用 ORBSLAM3 跑 TUM 数据集并输出对齐后轨迹文件的 C++ 代码示例： ```c++ #include <iostream> #include <fstream> #include <sstream> #include <string> #include <iomanip> #include <opencv2/core/core.hpp> #include "System.h" using namespace std; int main(int argc, char **argv) { if(argc != 4) { cerr << endl << "Usage: ./mono_tum path_to_vocabulary path_to_settings path_to_dataset" << endl; return 1; } ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR,true); ifstream fGroundTruth; fGroundTruth.open(argv[3] + string("/groundtruth.txt")); if(!fGroundTruth.is_open()) { cerr << endl << "Failed to open file: " << argv[3] + string("/groundtruth.txt") << endl; return 1; } ofstream fTrajectory; fTrajectory.open("trajectory.txt"); if(!fTrajectory.is_open()) { cerr << endl << "Failed to open file: trajectory.txt" << endl; return 1; } string sLine; int nLineNum = 0; while(getline(fGroundTruth,sLine)) { if(sLine.empty() || sLine[0] == '#') continue; nLineNum++; double t; float tx, ty, tz, qx, qy, qz, qw; stringstream ss; ss << sLine; ss >> t >> tx >> ty >> tz >> qx >> qy >> qz >> qw; cv::Mat Tcw = SLAM.TrackMonocular(cv::Mat(),cv::Mat(),t); if(!Tcw.empty()) { cv::Mat Rwc = Tcw.rowRange(0,3).colRange(0,3).t(); cv::Mat twc = -Rwc*Tcw.rowRange(0,3).col(3); float x = twc.at<float>(0); float y = twc.at<float>(1); float z = twc.at<float>(2); float roll, pitch, yaw; ORB_SLAM3::Converter::QuaternionToEuler(qw,qx,qy,qz,roll,pitch,yaw); float scale = 1.0f; if(nLineNum > 1) { getline(fGroundTruth,sLine); double tPrev; float txPrev, tyPrev, tzPrev, qxPrev, qyPrev, qzPrev, qwPrev; stringstream ssPrev; ssPrev << sLine; ssPrev >> tPrev >> txPrev >> tyPrev >> tzPrev >> qxPrev >> qyPrev >> qzPrev >> qwPrev; cv::Mat Twc = cv::Mat::eye(4,4,CV_32F); ORB_SLAM3::Converter::QuaternionToMat(qxPrev,qyPrev,qzPrev,qwPrev,Twc.rowRange(0,3).colRange(0,3)); Twc.at<float>(0,3) = txPrev; Twc.at<float>(1,3) = tyPrev; Twc.at<float>(2,3) = tzPrev; cv::Mat Ow = Twc.rowRange(0,3).col(3); cv::Mat OwPrev = cv::Mat(3,1,CV_32F); OwPrev.at<float>(0) = txPrev; OwPrev.at<float>(1) = tyPrev; OwPrev.at<float>(2) = tzPrev; cv::Mat v = Ow - OwPrev; scale = cv::norm(v); } fTrajectory << fixed << setprecision(6) << t << " " << x << " " << y << " " << z << " " << roll << " " << pitch << " " << yaw << " " << scale << endl; } } fGroundTruth.close(); fTrajectory.close(); SLAM.Shutdown(); return 0; } ``` 注意事项： 1. 代码中的 `path_to_vocabulary` 和 `path_to_settings` 分别表示 ORB_SLAM3 的词汇文件和配置文件路径，需要根据实际情况进行修改。 2. 代码中的 `path_to_dataset` 表示 TUM 数据集所在的文件夹路径，需要根据实际情况进行修改。 3. 输出的对齐轨迹文件为 `trajectory.txt`，每行数据包括时间戳、位置坐标、欧拉角和尺度因子，用空格分隔。 4. 代码中使用了 Ground Truth 数据进行轨迹对齐，需要保证 TUM 数据集中的 `groundtruth.txt` 文件是存在并且格式正确的。如果没有 Ground Truth 数据，可以使用其它方法进行轨迹对齐。 希望对你有帮助！