orb-slam中文注释版

蚁族的坚持 一起学orbslam2技术博客系列对应代码，此为博客中所用到的ORB-SLAM的注释代码,系列博客网址：(https://blog.csdn.net/qq_30356613/article/category/6897125)

# -*- coding: utf-8 -*-
from __future__ import print_function
import argparse
import os
import stat
import sys

# find the import for catkin‘s python package - either from source space or from an installed underlay
if os.path.exists（os.path.join（‘/opt/ros/indigo/share/catkin/cmake‘ ‘catkinConfig.cmake.in‘））:
    sys.path.insert（0 os.path.join（‘/opt/ros/indigo/share/catkin/cmake‘ ‘..‘ ‘python‘））
try:
    from catkin.environment_cache import generate_environment_script
except ImportError:
    # search for catkin package in all workspaces and prepend to path
    for workspace in “/home/lmt/catkin_ws/devel;/opt/ros/indigo“.split（‘;‘）:
        python_path = os.path.join（workspace ‘lib/python2.7/dist-packages‘）
        if os.path.isdir（os.path.join（python_path ‘catkin‘））:
            sys.path.insert（0 python_path）
            break
    from catkin.environment_cache import generate_environment_script

code = generate_environment_script（‘/home/lmt/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2/build/devel/env.sh‘）

output_filename = ‘/home/lmt/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2/build/catkin_generated/setup_cached.sh‘
with open（output_filename ‘w‘） as f:
    #print（‘Generate script for cached setup “%s“‘ % output_filename）
    f.write（‘\n‘.join（code））

mode = os.stat（output_filename）.st_mode
os.chmod（output_filename mode | stat.S_IXUSR）

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2018-06-05 13:20  ORB_SLAM2-master\
     文件          57  2018-01-16 08:20  ORB_SLAM2-master\ORB_SLAM2-master.kdev4
     文件         116  2017-01-20 16:03  ORB_SLAM2-master\build_ros.sh
     文件         479  2017-01-20 16:03  ORB_SLAM2-master\build.sh
     文件       13452  2017-01-20 16:03  ORB_SLAM2-master\README.md
     文件       35147  2017-01-20 16:03  ORB_SLAM2-master\License-gpl.txt
     文件         447  2017-01-20 16:03  ORB_SLAM2-master\LICENSE.txt
     文件        1789  2017-01-20 16:03  ORB_SLAM2-master\Dependencies.md
     文件        2932  2017-01-20 16:03  ORB_SLAM2-master\CMakeLists.txt
     文件         552  2017-01-20 16:03  ORB_SLAM2-master\.gitignore
     目录           0  2018-03-20 01:35  ORB_SLAM2-master\lib\
     文件     1485608  2018-03-20 01:35  ORB_SLAM2-master\lib\libORB_SLAM2.so
     目录           0  2018-01-22 07:43  ORB_SLAM2-master\.kdev4\
     文件        1250  2018-01-22 07:43  ORB_SLAM2-master\.kdev4\ORB_SLAM2-master.kdev4
     目录           0  2018-03-20 03:02  ORB_SLAM2-master\src\
     文件       15786  2018-03-07 01:22  ORB_SLAM2-master\src\KeyframeDatabase.cc
     文件       13774  2018-03-07 01:21  ORB_SLAM2-master\src\Sim3Solver.cc
     文件       48020  2018-03-20 03:02  ORB_SLAM2-master\src\Optimizer.cc
     文件       17765  2018-02-07 09:23  ORB_SLAM2-master\src\MapPoint.cc
     文件       35118  2018-03-11 15:09  ORB_SLAM2-master\src\frame.cc
     文件       66390  2018-03-20 01:27  ORB_SLAM2-master\src\ORBmatcher.cc
     文件       38395  2018-03-15 03:26  ORB_SLAM2-master\src\PnPsolver.cc
     文件       18832  2018-01-17 15:03  ORB_SLAM2-master\src\System.cc
     文件        4065  2018-02-04 05:48  ORB_SLAM2-master\src\Map.cc
     文件       41015  2018-03-14 07:16  ORB_SLAM2-master\src\Initializer.cc
     文件       34814  2018-03-20 01:37  ORB_SLAM2-master\src\LocalMapping.cc
     文件       35509  2018-03-07 14:05  ORB_SLAM2-master\src\LoopClosing.cc
     文件       76515  2018-03-20 00:53  ORB_SLAM2-master\src\Tracking.cc
     文件        6468  2017-01-20 16:03  ORB_SLAM2-master\src\Viewer.cc
     文件        7290  2017-01-20 16:03  ORB_SLAM2-master\src\MapDrawer.cc
     文件        6271  2017-01-20 16:03  ORB_SLAM2-master\src\frameDrawer.cc
............此处省略633个文件信息