build.sh
to build the Thirdparty libraries and ORB-SLAM2. Please make sure you have installed all required dependencies (see section 2). Execute:TUMX.yaml
to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDER
to the uncompressed sequence folder.KITTIX.yaml
by KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change PATH_TO_DATASET_FOLDER
to the uncompressed dataset folder. Change SEQUENCE_NUMBER
to 00, 01, 02,.., 11. KITTIX.yaml
to KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change PATH_TO_DATASET_FOLDER
to the uncompressed dataset folder. Change SEQUENCE_NUMBER
to 00, 01, 02,.., 11. TUMX.yaml
to TUM1.yaml,TUM2.yaml or TUM3.yaml for freiburg1, freiburg2 and freiburg3 sequences respectively. Change PATH_TO_SEQUENCE_FOLDER
to the uncompressed sequence folder. Change ASSOCIATIONS_FILE
to the path to the corresponding associations file./camera/image_raw
run node ORB_SLAM2/Mono. You will need to provide the vocabulary file and a settings file. See the monocular examples above./camera/left/image_raw
and /camera/right/image_raw
run node ORB_SLAM2/Stereo. You will need to provide the vocabulary file and a settings file. If you provide rectification matrices (see Examples/Stereo/EuRoC.yaml example), the node will recitify the images online, otherwise images must be pre-rectified./camera/rgb/image_raw
and /camera/depth_registered/image_raw
, run node ORB_SLAM2/RGBD. You will need to provide the vocabulary file and a settings file. See the RGB-D example above.