ROS下orb-slam2 单目 （二）

一 /1.   修改  /ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_mono.cc 的节点为 “camera/image”

2. 启动

    1) roscore

    2)  rosrun video_transport_tutorial video_publisher

    3)  rosrun ORB_SLAM2 Mono /home/xx/common_space/ORB_SLAM2/Vocabulary/ORBvoc.txt   /home/xx/common_space/ORB_SLAM2/Examples/Monocular/TUM1.yaml

二. 利用数据集测试

# 4. Monocular Examples

## 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_FOLDER`to the uncompressed sequence folder.

```

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

```

./Examples/Monocular/mono_tum  Vocabulary/ORBvoc.txt  Examples/Monocular/TUM1.yaml /home/xx/下载/rgbd_dataset_freiburg1_desk