1、安装ORB-SLAM2
$ git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
2、编译ORB-SLAM2
$ cd ORB_SLAM2
$ chmod +x build.sh
$ ./build.sh
3、从http://vision.in.tum.de/data/datasets/rgbd-dataset/download下载序列并解压缩。本文下载的是TUM数据集,。
$ ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml PATH_TO_SEQUENCE_FOLDER
其中PATH_TO_SEQUENCE_FOLDE是下载数据集的位置。
拿我的虚拟机放的位置举例:
$ ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUMX.yaml /home/hadoop/rgbd_dataset_freiburg1_desk