ORB-SLAM2运行RGBD数据
1.配置
(1)系统已有 Python 2.7
(2)下载associate.py
地址:http://vision.in.tum.de/data/datasets/rgbd-dataset/tools
(3)需要安装numpy,于是解决:
//首先安装pip
sudo apt-get install python-pip
//安装numpy
pip install numpy
2.下载数据集
3.生成自己得关联文件
python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.mytxt
4.运行
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM3.yaml /数据集文件夹路径 /associations.txt 文件路径