ORB-SLAM3 单目运行EuRoC数据集没有显示图像 _数据可视化

运行
./mono_euroc
后，没有图形界面，只显示了：
【ORB-SLAM3 单目运行EuRoC数据集没有显示图像】num_seq = 1Loading images for sequence 0...LOADED!-------ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.This program comes with ABSOLUTELY NO WARRANTY;This is free software, and you are welcome to redistribute itunder certain conditions. See LICENSE.txt.Input sensor was set to: MonocularLoading settings from /home/changym/slamsource/ORB_SLAM3/Examples/Monocular/EuRoC.yamlCamera1.k3 optional parameter does not exist...-Loaded camera 1-Loaded image info-Loaded ORB settingsViewer.imageViewScale optional parameter does not exist...-Loaded viewer settingsSystem.LoadAtlasFromFile optional parameter does not exist...System.SaveAtlasToFile optional parameter does not exist...-Loaded Atlas settingsSystem.thFarPoints optional parameter does not exist...-Loaded misc parameters----------------------------------SLAM settings: -Camera 1 parameters (Pinhole): [ 458.65399169921875 457.29598999023438 367.21499633789062 248.375 ]-Camera 1 distortion parameters: [-0.28340810537338257 0.073959067463874817 0.00019359000725671649 1.7618711353861727e-05 ]-Original image size: [ 752 , 480 ]-Current image size: [ 600 , 350 ]-Camera 1 parameters after resize: [365.94735717773438 333.44500732421875 292.99069213867188 181.10678100585938 ]-Sequence FPS: 20-Features per image: 1000-ORB scale factor: 1.2000000476837158-ORB number of scales: 8-Initial FAST threshold: 20-Min FAST threshold: 7Loading ORB Vocabulary. This could take a while...Vocabulary loaded!Initialization of Atlas from scratch Creation of new map with id: 0Creation of new map with last KF id: 0Seq. Name: There are 1 cameras in the atlasCamera 0 is pinholeFirst KF:0; Map init KF:0New Map created with 271 points

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打开查看，第83行

// Create SLAM system. It initializes all system threads and gets ready to process frames.ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);

这里的4个参数初始化了SLAM 系统，可以查看头文件.h来了解其含义。在第105行：

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// Initialize the SLAM system. It launches the Local Mapping, Loop Closing and Viewer threads.System(const string &strVocFile, const string &strSettingsFile, const eSensor sensor, const bool bUseViewer = true, const int initFr = 0, const string &strSequence = std::string());

可见这里的第四个bool型参数为，表示是否使用可视化。
所以，将中的第83行false改为true，然后重新make编译即可展示可视化界面：