Run the tum Dataset in rgb-d example with ORB-SLAM2

Link here: https://github.com/raulmur/ORB_SLAM2

1. Download the data set as required, I downloaded the rgbd_dataset_freiburg2_pioneer_, unzip it to your favorite directory. I personally put it under the ORBSLAM2 Project catalogue.

2. Download associate.py. Placed under the/orb_slam2/examples/rgb-d/directory.

3. Open the terminal and go to the directory where associate.py is located, i.e./orb_slam2/examples/rgb-d/, then run

python associate.py PATH_TO_SEQUENCE/rgb.txt PATH_TO_SEQUENCE/depth.txt > associations.txt

A associations.txt file will be generated in this directory.

4. Refer to the 3rd step in the given link, https://github.com/raulmur/ORB_SLAM2, i.e.

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUMX.yaml PATH_TO_SEQUENCE_FOLDER ASSOCIATIONS_FILE

PATH_TO_SEQUENCE_FOLDER文件夹即为数据库所在文件夹，我的是在orbslam2工程下面，

ASSOCIATIONS_FILE即为第３步中生成的associations.txt，给出他的制定目录位置

5. At this point, you can run, such as

Run the tum Dataset in rgb-d example with ORB-SLAM2