从零开始的ORB-SLAM2生活

在http://vision.in.tum.de/data/datasets/rgbd-dataset/download上下载并解压好数据集后 cd到数据集的目录，

mv rgbd_dataset_freiburg1_xyz /usr/slam_tools

然后进入ORB_SLAM2目录

sudo ./Examples/Monocular/mono_tum  Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /usr/slam_tools/rgbd_dataset_freiburg1_xyz/

下面是输出内容

Start processing sequence ...
Images in the sequence: 798

Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.New Map created with 80 points
Wrong initialization, reseting...
System Reseting
Reseting Local Mapper... done
Reseting Loop Closing... done
Reseting Database... done
New Map created with 152 points