ROS下 orbslam2 双目 （三）
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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:
roscorerosrun ORB_SLAM2 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml truerosbag play --pause V1_01_easy.bag /cam0/image_raw:=/camera/left/image_raw /cam1/image_raw:=/camera/right/image_rawOnce 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
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