orb-slam开篇

过去的这两年里，很多时候都在和 orb-slam打交道。做了不少笔记。发表出来，权当备份。

论文[ORB-SLAM: a Versatile and Accurate Monocular SLAM System]

运行

http://qiqitek.com/blog/?p=55

下载并运行TUM（慕尼黑工业大学）的数据集

下载的地址如下所示：http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz.tgz

cd ~/ORB_SLAM2/

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml Examples/rgbd_dataset_freiburg1_xyz Examples/RGB-D/associations/fr1_xyz.txt

 

数据关联：

python associate.py Data/rgbd_dataset_freiburg1_desk/rgb.txt Data/rgbd_dataset_freiburg1_desk/depth.txt > Data/rgbd_dataset_freiburg1_desk/associations.txt

运行：

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml Data/rgbd_dataset_freiburg1_desk   Data/rgbd_dataset_freiburg1_desk/associations.txt