过去的这两年里，很多时候都在和 orb-slam打交道。做了不少笔记。发表出来，权当备份。
论文[ORB-SLAM: a Versatile and Accurate Monocular SLAM System]
运行
下载并运行TUM（慕尼黑工业大学）的数据集
下载的地址如下所示：http://vision.in.tum.de/rgbd/dataset/freiburg1/rgbd_dataset_freiburg1_xyz.tgz
cd ~/ORB_SLAM2/
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml Examples/rgbd_dataset_freiburg1_xyz Examples/RGB-D/associations/fr1_xyz.txt
数据关联：
python associate.py Data/rgbd_dataset_freiburg1_desk/rgb.txt Data/rgbd_dataset_freiburg1_desk/depth.txt > Data/rgbd_dataset_freiburg1_desk/associations.txt
运行：
./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml Data/rgbd_dataset_freiburg1_desk Data/rgbd_dataset_freiburg1_desk/associations.txt
