1.ORB-SLAM2编译运行部分请参考下面的博客:
链接: link
2.下载EuRoC MAV数据集
下载官网:
链接: link
下载的EuRoC数据集为ASL格式,下载后进行解压。
3.运行数据集
对于MH序列,命令:
./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE_FOLDER/mav0/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt
对于V1和V2序列,命令:
./Examples/Monocular/mono_euroc Vocabulary/ORBvoc.txt Examples/Monocular/EuRoC.yaml PATH_TO_SEQUENCE/cam0/data Examples/Monocular/EuRoC_TimeStamps/SEQUENCE.txt
更改PATH_TO_SEQUENCE_FOLDER 和 SEQUENCE