用于ORBSLAM2的超快Boost.Python接口.zip

# pyORBSLAM2 *Ultra-fast Boost.Python interface for [ORBSLAM2](https://github.com/raulmur/ORB_SLAM2)* Are you using ORBSLAM2 for your latest tracking project? Do you just want to create a quick prototype, or are you weary of writing C++ code? Then this repository is for you! Simply interface ORBSLAM2 from python2.x/3, using your favourite NumPy arrays as necessary. It is as easy as: ```python import ORBSLAM2 as os2 slam_obj = os2.SLAM() slam_obj.init("/slamdoom/libs/orbslam2/Vocabulary/ORBvoc.txt",\ "/slamdoom/libs/orbslam2/Examples/RGB-D/TUM1.yaml") slam_obj.track(array, array_d, time.time()) del slam_obj ```  You can use this repo as a basis for any other Boost.Python projects as well. Please contact me at [email protected] any time and I will assist you! Best, Christian Schroeder de Witt, Torr Vision Group, University of Oxford, 2017 # Get started Use run.sh to run nvidia-docker environment to build build/ORBSLAM2.so, which you should then put on your PYTHONPATH. See test/test.py for an example. Extend orbslam2.cpp to your needs (comes with NumPy/cv::Mat conversion routines, and already includes Boost::Python::NumPy set up for you should you need it) See below more detailed steps on how to set up the tutorial examples. # Ubuntu Clone this repository (or even better: fork it!) `git clone [email protected]:torrvision/pyORBSLAM2.git` Install nvidia-docker plugin: see https://github.com/NVIDIA/nvidia-docker Note: You require nvidia-docker plugin on host, as Pangolin2 requires OpenGL support Now run the nvidia-docker container: `sudo ./run.sh` (It will take a while to compile OpenCV3) (SSH password: source) Now, inside the container SSH shell, simply do: (ensure build and bin folders are deleted to force CMake to update properly) `/orbslam/src/build.sh` `export PYTHONPATH=/orbslam/src/build:$PYTHONPATH` Now you should be able to try the test example inside the container: `python3 /orbslam/src/test/test.py` (press key for GUI windows to open) The above is for Python3 only, if you require Python2.x support or have any other questions / issues, please contact me: [[email protected]](mailto:[email protected]) All the best Christian