使用TUM数据集跑orbslam2单目程序mono

使用TUM数据集跑orbslam2单目程序mono

• 1、下载数据集
• 这里选择从TUM Dataset下载数据集

http://vision.in.tum.de/data/datasets/rgbd-dataset/download

这里下载的是rgbd_dataset_freiburg1_xyz 。解压至自己喜欢的目录。
2、参数设置
根据作者说明：

TUM Dataset

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

2. 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_FOLDERto the uncompressed sequence folder.

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER

运行单目在终端输入：

./mono_tum /home/whp/whp_ws/orbslam2/src/ORB_SLAM2-master/Vocabulary/ORBvoc.txt /home/whp/whp_ws/orbslam2/src/ORB_SLAM2-master/Examples/Monocular/TUM1.yaml /home/whp/whp_ws/slamdata/TUM/rgbd_dataset_freiburg1_xyz

3、执行结果
在ORB_SLAM2-master/Examples/Monocular目录下生成KeyFrameTrajectory.txt文件。