如何编译？
1、代码下载；
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3
或者git clone https://github.com/electech6/ORB_SLAM3_detailed_comments
2、按照里面的README.md进行环境安装和编译；
安装和编译过程中可能会出现的问题：
1）提示找不到GLEW
解决方法：sudo apt install libglew-dev；
2）当执行./euroc_examples.sh时，会出现找不到libpango_image.so这个库
解决方法：
a、首先在系统中查找这个文件sudo find / -name libpango_image.so；结果为：/usr/local/lib/libpango_image.so
b、将.so文件路径的目录添加到/etc/ld.so.conf：sudo gedit /etc/ld.so.conf，在文件的末尾添加一行：/usr/local/lib/libpango_image.so，执行sudo /sbin/ldconfig生效；
c、在编译build_ros.sh之前，需要执行
gedit ~/.bashrc，在文件末尾添加如下export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM3/Examples/ROS
目前大概就遇到以上问题；
如何运行？
1、先下载数据集
这里下载的MH_01_easy.zip；解压并命名为MH01;
执行纯单目：
./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml /home/sangfor/2023/bro_ws/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono
执行纯双目：
./Examples/Stereo/stereo_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo/EuRoC.yaml /home/sangfor/2023/bro_ws/MH01 ./Examples/Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo
执行单目惯导：
./Examples/Monocular-Inertial/mono_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular-Inertial/EuRoC.yaml /home/sangfor/2023/bro_ws/MH01 ./Examples/Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi
执行双目惯导：
./Examples/Stereo-Inertial/stereo_inertial_euroc ./Vocabulary/ORBvoc.txt ./Examples/Stereo-Inertial/EuRoC.yaml /home/sangfor/2023/bro_ws/MH01 ./Examples/Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi
其euroc_examples.sh的内容为：
#!/bin/bash pathDatasetEuroc='/home/sangfor/2023/bro_ws' #Example, it is necesary to change it by the dataset path #------------------------------------ # Monocular Examples echo "Launching MH01 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono echo "Launching MH02 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Monocular/EuRoC_TimeStamps/MH02.txt dataset-MH02_mono echo "Launching MH03 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Monocular/EuRoC_TimeStamps/MH03.txt dataset-MH03_mono echo "Launching MH04 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Monocular/EuRoC_TimeStamps/MH04.txt dataset-MH04_mono echo "Launching MH05 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH05_mono echo "Launching V101 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular/EuRoC_TimeStamps/V101.txt dataset-V101_mono echo "Launching V102 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Monocular/EuRoC_TimeStamps/V102.txt dataset-V102_mono echo "Launching V103 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Monocular/EuRoC_TimeStamps/V103.txt dataset-V103_mono echo "Launching V201 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular/EuRoC_TimeStamps/V201.txt dataset-V201_mono echo "Launching V202 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Monocular/EuRoC_TimeStamps/V202.txt dataset-V202_mono echo "Launching V203 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Monocular/EuRoC_TimeStamps/V203.txt dataset-V203_mono # MultiSession Monocular Examples echo "Launching Machine Hall with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Monocular/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Monocular/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Monocular/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Monocular/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_mono echo "Launching Vicon Room 1 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Monocular/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Monocular/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_mono echo "Launching Vicon Room 2 with Monocular sensor" ./Monocular/mono_euroc ../Vocabulary/ORBvoc.txt ./Monocular/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Monocular/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Monocular/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_mono #------------------------------------ # Stereo Examples echo "Launching MH01 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereo echo "Launching MH02 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Stereo/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereo echo "Launching MH03 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Stereo/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereo echo "Launching MH04 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Stereo/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereo echo "Launching MH05 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereo echo "Launching V101 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo/EuRoC_TimeStamps/V101.txt dataset-V101_stereo echo "Launching V102 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Stereo/EuRoC_TimeStamps/V102.txt dataset-V102_stereo echo "Launching V103 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Stereo/EuRoC_TimeStamps/V103.txt dataset-V103_stereo echo "Launching V201 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo/EuRoC_TimeStamps/V201.txt dataset-V201_stereo echo "Launching V202 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Stereo/EuRoC_TimeStamps/V202.txt dataset-V202_stereo echo "Launching V203 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Stereo/EuRoC_TimeStamps/V203.txt dataset-V203_stereo # MultiSession Stereo Examples echo "Launching Machine Hall with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Stereo/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Stereo/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Stereo/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Stereo/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereo echo "Launching Vicon Room 1 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Stereo/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Stereo/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereo echo "Launching Vicon Room 2 with Stereo sensor" ./Stereo/stereo_euroc ../Vocabulary/ORBvoc.txt ./Stereo/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Stereo/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Stereo/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereo #------------------------------------ # Monocular-Inertial Examples echo "Launching MH01 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_monoi echo "Launching MH02 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Monocular-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_monoi echo "Launching MH03 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Monocular-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_monoi echo "Launching MH04 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Monocular-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_monoi echo "Launching MH05 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_monoi echo "Launching V101 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_monoi echo "Launching V102 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Monocular-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_monoi echo "Launching V103 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_monoi echo "Launching V201 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_monoi echo "Launching V202 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Monocular-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_monoi echo "Launching V203 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_monoi # MultiSession Monocular Examples echo "Launching Machine Hall with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Monocular-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Monocular-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Monocular-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Monocular-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Monocular-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_monoi echo "Launching Vicon Room 1 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Monocular-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Monocular-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Monocular-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_monoi echo "Launching Vicon Room 2 with Monocular-Inertial sensor" ./Monocular-Inertial/mono_inertial_euroc ../Vocabulary/ORBvoc.txt ./Monocular-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Monocular-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Monocular-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Monocular-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_monoi #------------------------------------ # Stereo-Inertial Examples echo "Launching MH01 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt dataset-MH01_stereoi echo "Launching MH02 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH02 ./Stereo-Inertial/EuRoC_TimeStamps/MH02.txt dataset-MH02_stereoi echo "Launching MH03 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH03 ./Stereo-Inertial/EuRoC_TimeStamps/MH03.txt dataset-MH03_stereoi echo "Launching MH04 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH04 ./Stereo-Inertial/EuRoC_TimeStamps/MH04.txt dataset-MH04_stereoi echo "Launching MH05 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH05 ./Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH05_stereoi echo "Launching V101 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo-Inertial/EuRoC_TimeStamps/V101.txt dataset-V101_stereoi echo "Launching V102 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V102 ./Stereo-Inertial/EuRoC_TimeStamps/V102.txt dataset-V102_stereoi echo "Launching V103 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V103 ./Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V103_stereoi echo "Launching V201 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo-Inertial/EuRoC_TimeStamps/V201.txt dataset-V201_stereoi echo "Launching V202 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V202 ./Stereo-Inertial/EuRoC_TimeStamps/V202.txt dataset-V202_stereoi echo "Launching V203 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V203 ./Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V203_stereoi # MultiSession Stereo-Inertial Examples echo "Launching Machine Hall with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/MH01 ./Stereo-Inertial/EuRoC_TimeStamps/MH01.txt "$pathDatasetEuroc"/MH02 ./Stereo-Inertial/EuRoC_TimeStamps/MH02.txt "$pathDatasetEuroc"/MH03 ./Stereo-Inertial/EuRoC_TimeStamps/MH03.txt "$pathDatasetEuroc"/MH04 ./Stereo-Inertial/EuRoC_TimeStamps/MH04.txt "$pathDatasetEuroc"/MH05 ./Stereo-Inertial/EuRoC_TimeStamps/MH05.txt dataset-MH01_to_MH05_stereoi echo "Launching Vicon Room 1 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V101 ./Stereo-Inertial/EuRoC_TimeStamps/V101.txt "$pathDatasetEuroc"/V102 ./Stereo-Inertial/EuRoC_TimeStamps/V102.txt "$pathDatasetEuroc"/V103 ./Stereo-Inertial/EuRoC_TimeStamps/V103.txt dataset-V101_to_V103_stereoi echo "Launching Vicon Room 2 with Stereo-Inertial sensor" ./Stereo-Inertial/stereo_inertial_euroc ../Vocabulary/ORBvoc.txt ./Stereo-Inertial/EuRoC.yaml "$pathDatasetEuroc"/V201 ./Stereo-Inertial/EuRoC_TimeStamps/V201.txt "$pathDatasetEuroc"/V202 ./Stereo-Inertial/EuRoC_TimeStamps/V202.txt "$pathDatasetEuroc"/V203 ./Stereo-Inertial/EuRoC_TimeStamps/V203.txt dataset-V201_to_V203_stereoi
再下载数据集：名字为dataset-room1_512_16
纯单目运行：
./Monocular/mono_tum_vi ../Vocabulary/ORBvoc.txt Monocular/TUM_512.yaml /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam0/data Monocular/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_mono
纯双目运行：
./Stereo/stereo_tum_vi ../Vocabulary/ORBvoc.txt Stereo/TUM_512.yaml /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam0/data /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam1/data Stereo/TUM_TimeStamps/dataset-room1_512.txt dataset-room1_512_stereo
单目惯导：
./Monocular-Inertial/mono_inertial_tum_vi ../Vocabulary/ORBvoc.txt Monocular-Inertial/TUM_512.yaml /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam0/data Monocular-Inertial/TUM_TimeStamps/dataset-room1_512.txt Monocular-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_monoi
双目惯导：
./Stereo-Inertial/stereo_inertial_tum_vi ../Vocabulary/ORBvoc.txt Stereo-Inertial/TUM_512.yaml /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam0/data /home/sangfor/2023/bro_ws/dataset-room1_512_16/mav0/cam1/data Stereo-Inertial/TUM_TimeStamps/dataset-room1_512.txt Stereo-Inertial/TUM_IMU/dataset-room1_512.txt dataset-room1_512_stereoi
