ROS 下 orbslam2 RGB-D (四)

 

一 . 利用数据集测试

 

# 6. RGB-D Example

 

## TUM Dataset

 

1. Download a sequence from http://vision.in.tum.de/data/datasets/rgbd-dataset/download and uncompress it.

 

2. Associate RGB images and depth images using the python script[associate.py](http://vision.in.tum.de/data/datasets/rgbd-dataset/tools). We already provide associations for some of the sequences in *Examples/RGB-D/associations/*</