用orb-slam2跑RGB-D Example中的TUM Dataset

Posted 2020-08-26 进击的slam

链接在此：https://github.com/raulmur/ORB_SLAM2

１．按照要求下载数据集，我下载的是rgbd_dataset_freiburg2_pioneer_360，将其解压到你喜欢的目录．我个人放在了orbslam２工程目录下面了．

２．下载 associate.py．放在/ORB_SLAM2/Examples/RGB-D/目录下面．

３．打开终端，进入到associate.py所在目录，即/ORB_SLAM2/Examples/RGB-D/，之后运行

python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt

在该目录中将会生成一个associations.txt文件．

４．参照所给链接中的第３步，https://github.com/raulmur/ORB_SLAM2，即

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml PATH_TO_SEQUENCE_FOLDER ASSOCIATIONS_FILE

PATH_TO_SEQUENCE_FOLDER文件夹即为数据库所在文件夹，我的是在orbslam2工程下面，

ASSOCIATIONS_FILE即为第３步中生成的associations.txt，给出他的制定目录位置

５．至此，可以运行，#cd ORB_SLAM2 #./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM2.yaml /home/zty/ORB_SLAM2/rgbd_dataset_freiburg2_pioneer_360 /home/zty/ORB_SLAM2/rgbd_dataset_freiburg2_pioneer_360/associations.txt

如下图