首投及其准备（1） -- 环境搭建

一、250311进度：
1.ORB-SLAM3搭建完成，EuRoc数据库正常运行；
C博：致知在格物，物格而后知至 > https://blog.csdn.net/kuvinxu/article/details/126233165?fromshare=blogdetail&sharetype=blogdetail&sharerId=126233165&sharerefer=PC&sharesource=qq_45357216&sharefrom=from_link
2.vins-mono搭建完成，EuRoc数据库正常运行；
C博：苏Su。 > https://blog.csdn.net/Skether/article/details/131571146?fromshare=blogdetail&sharetype=blogdetail&sharerId=131571146&sharerefer=PC&sharesource=qq_45357216&sharefrom=from_link
3.注意力架构待接入...

数据集：
EuRoc > https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets

二、运行要点：
1.ORB-SLAM3运行EuRoc数据集
cd到/ORB-SLAM3然后：（注意dataset|MH_01_easy、MH01.txt|路径）
./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml ./dataset/EuRoc/MH_01_easy ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt

./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml ./dataset/EuRoc/MH_01_easy ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt

2.vins-mono运行EuRoc数据集
cd到/catkin_ws然后：（开三个终端）
Ⅰ

source devel/setup.bash
roslaunch vins_estimator euroc.launch

Ⅱ

source devel/setup.bash
roslaunch vins_estimator vins_rviz.launch

Ⅲ

source devel/setup.bash
rosbag play MH_01_easy.bag

2025.03.13 3.14 改