编译
cd ORB_SLAM2
chmod +x build.sh
sh build.sh
生成associations_my.txt文件
python associate.py rgb.txt depth.txt > associations_my.txt
运行
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/jinrui/SLAM/TUM/rgbd_dataset_freiburg1_desk