TUM_RGBD_DATA_SET

ros版本的数据集
相机内参：

发布的topic：

/camera/depth/camera_info
/camera/depth/disparity
/camera/depth/image
/camera/rgb/camera_info
/camera/rgb/image_color
/clock
/cortex_marker_array
/cur_tilt_angle
/imu
/pose
/rosout
/rosout_agg
/scan
/tf

ORBSLAM2 跑此数据集

单目：
rosrun ORB_SLAM2 Mono /camera/image_raw:=/camera/rgb/image_color Vocabulary/ORBvoc.txt tum_rgbd.yaml

RGBD：
rosrun ORB_SLAM2 RGBD /camera/rgb/image_raw:=/camera/rgb/image_color /camera/depth_registered/image_raw:=/camera/depth/image Vocabulary/ORBvoc.txt tum_rgbd.yaml

tum_rgbd.yaml

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 525
Camera.fy: 525
Camera.cx: 319.5
C