datasets for Monocular ORB_SLAM2

raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

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datasets for Monocular ORB_SLAM2 #727

Open kouui opened 5 years ago

kouui commented 5 years ago

Sorry I am a newbie in ROS and SLAM and I am trying the Monocular Examples with the TUM Dataset. My question is that the link http://vision.in.tum.de/data/datasets/rgbd-dataset/download is actually a RGB-D dataset, shouldn't we use dataset with RGB image input only?

Thanks!

DigitalGabriele commented 5 years ago

As far as I understand, you can configure so that it only takes the input from the camera as image and not depth.

For example, Im running it using ROS, so the bag's camera topic is "/camera/rgb/image_color", therefore:

$ rosbag play --pause my.bag /camera/rgb/image_color:=/camera/image_raw