ROS 下 orbslam2 RGB-D (四)

 

一 . 利用数据集测试

 

# 6. RGB-D Example

 

## TUM Dataset

 

1. Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.

 

2. Associate RGB images and depth images using the python script[associate.py](http://vision.in.tum.de/data/datasets/rgbd-dataset/tools). We already provide associations for some of the sequences in *Examples/RGB-D/associations/*. You can generate your own associations file executing:

 

```

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

```

 

3. Execute the following command. Change`TUMX.yaml` to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change`PATH_TO_SEQUENCE_FOLDER`to the uncompressed sequence folder. Change`ASSOCIATIONS_FILE` to the path to the corresponding associations file.

 

```

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

```

 

 

2在 https://vision.in.tum.de/data/datasets/rgbd-dataset/tools   下载  associate.py 

 3.在ORB_SLAM2下新建scripts ,后将associate.py 复制到 scripts文件夹下

4.  ~/common_space/ORB_SLAM2$ python scripts/associate.py    /home/xx/下载/rgbd_dataset_freiburg1_desk/rgb.txt       /home/xx/下载/rgbd_dataset_freiburg1_desk/depth.txt > Examples/RGB-D/associations/associations.txt         会在  /home/xx/common_space/ORB_SLAM2/Examples/RGB-D/associations/下生成associations.txt

5. ~/common_space/ORB_SLAM2$ ./Examples/RGB-D/rgbd_tum   Vocabulary/ORBvoc.txt    Examples/RGB-D/TUM1.yaml    /home/xx/下载/rgbd_dataset_freiburg1_desk        Examples/RGB-D/associations/associations.txt