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
Download a sequence from vision.in.tum.de/data/datasets/rgbd-dataset/download and unpress it.
Execute the following mand. Change TUMX.yaml
to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDER
to the unpressed 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。
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