ORB SLAM 2 demo 复现

参考链接
RGB-D 示例

依然采用之前的 TUM 数据集，这次加入深度信息。
这里需要对 rgb 图和 depth 图做一下匹配，官方提供了脚本程序
格式如下：

 python associate.py /home/zxh/dataset/rgbd_dataset_freiburg1_xyz/rgb.txt /home/zxh/dataset/rgbd_dataset_freiburg1_xyz/depth.txt > associations.txt

匹配之后得到 associations.txt 文件，然后运行 SLAM 程序，格式为：
在zxh@evan:~/catkin_ws/src/ORB_SLAM2下打开命令行

 ./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /home/zxh/dataset/rgbd_dataset_freiburg1_xyz /home/zxh/dataset/rgbd_dataset_freiburg1_xyz/associations.txt

roscore

注意：将TUM1.yaml复制出来，重命名为TUM1_ROS.yaml，并将深度校正系数改为1.0,5000是普通模式下的，此处是ROS模式。

rosrun ORB_SLAM2 RGBD /home/zxh/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/zxh/catkin_ws/src/ORB_SLAM2/Examples/RGB-D/TUM1_ROS.yaml

rosbag play  /home/zxh/dataset/rgbd_dataset_freiburg1_xyz.bag /camera/rgb/image_color:=/camera/rgb/image_raw /camera/depth/image:=/camera/depth_registered/image_raw

roscore

rosrun ORB_SLAM2 RGBD /home/zxh/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/zxh/catkin_ws/src/ORB_SLAM2/Examples/RGB-D/D435i.yaml /camera/rgb/image_raw:=/camera/color/image_raw /camera/depth_registered/image_raw:=/camera/aligned_depth_to_color/image_raw

roslaunch realsense2_camera rs_camera.launch

ORBSLAM2_with_pointcloudmap
在ORB_SLAM2_modified$ 下打开终端

./bin/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /home/zxh/dataset/rgbd_dataset_freiburg1_xyz /home/zxh/dataset/rgbd_dataset_freiburg1_xyz/associations.txt

出现段错误 (核心已转储)