ROS下 orbslam2 双目 （三）

一  .  利用数据集测试

运行 Sterso 节点

**Example**: Download a rosbag (e.g. V1_01_easy.bag) from the EuRoC dataset (http://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets). Open 3 tabs on the terminal and run the following command at each tab:

```

roscore

```

```

rosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml true

```

```

rosbag play --pause V1_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_raw

```

Once ORB-SLAM2 has loaded the vocabulary, press space in the rosbag tab. Enjoy!. Note: a powerful computer is required to run the most exigent sequences of this dataset.

启动     1.roscore

    2. :~/common_space/ORB_SLAM2$    rosrun ORB_SLAM2 Stereo     Vocabulary/ORBvoc.txt    Examples/Stereo/EuRoC.yaml true

    3.rosbag play --pause /home/xx/下载/V1_01_easy.bag   /cam0/image_raw:=/camera/left/image_raw    /cam1/image_raw:=/camera/right/image_raw