评测ORB_SLAM3, 基于D435i

单目，双目以及RGB-D相机的资料
https://blog.csdn.net/dudu815110/article/details/79669938
https://blog.csdn.net/weixin_39752599/article/details/103548239?


https://blog.csdn.net/Robot_Starscream/article/details/83338660?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-4.control&dist_request_id=&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-4.control


Tof，结构光，三角测距，RGBD，双目，激光雷达，毫米波雷达
https://blog.csdn.net/ccchen706/article/details/89955817

先测试 RGB-D
ORB_SLAM3/Examples/ROS/ORB_SLAM3/src/ros_rgbd.cc
    message_filters::Subscriber rgb_sub(nh, "/camera/color/image_raw", 100);
    message_filters::Subscriber depth_sub(nh, "/camera/depth/image_rect_raw", 100);

cd /work/ws/src/ORB_SLAM3
#分别开三个终端
roslaunch realsense2_camera rs_rgbd.launch
rosrun ORB_SLAM3 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/d435i.yaml

出现 rgb的原图和基于特征点的map viewer。 

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单眼 Monocular 
修改Example/ROS/ORB_SLAM3/src/ros_mono.cc
把topic给成 /camera/color/image_raw

cd /work/ws/src/ORB_SLAM3
source Examples/ROS/ORB_SLAM3/build/devel/setup.bash
rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/Monocular/d435i.yaml
roslaunch realsense2_camera rs_camera.launch

双目以及带惯性导航的方案等等，暂时不做测试。