对于RGB-数据,生成associations.txt(在associate.py的目录下)
python associate.py /home/ionlylo1/py27pkg/ORB_SLAM2/Dataset/rgbd_dataset_freiburg3_walking_xyz/rgb.txt /home/ionlylo1/py27pkg/ORB_SLAM2/Dataset/rgbd_dataset_freiburg3_walking_xyz/depth.txt > associations.txt
运行orbslam2(在orbslam2目录下)(其中,TUMX改为TUM3因为是我用rgbd_dataset_freiburg3_walking_xyz中,freiburg是3所以该为3)
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml /home/ionlylo1/py27pkg/ORB_SLAM2/Dataset/rgbd_dataset_freiburg3_walking_xyz /home/ionlylo1/py27pkg/ORB_SLAM2/Examples/RGB-D/associations.txt