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Update README.txt
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raulmur committed Sep 1, 2015
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14 changes: 7 additions & 7 deletions README.txt
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@@ -17,7 +17,7 @@ If you use ORB-SLAM in an academic work, please cite:
@article{murSubTro2015,
title={{ORB-SLAM}: a Versatile and Accurate Monocular {SLAM} System},
author={Mur-Artal, Ra\'ul, Montiel, J. M. M. and Tard\'os, Juan D.},
journal={Submitted to IEEE Transaction on Robotics. arXiv preprint arXiv:1502.00956},
journal={IEEE Transaction on Robotics (to appear). arXiv preprint arXiv:1502.00956},
year={2015}
}

@@ -98,7 +98,7 @@ See section 5 to run the Example Sequence.
rosrun ORB_SLAM ORB_SLAM PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

You have to provide the path to the ORB vocabulary and to the settings file. The paths must be absolute or relative to the ORB_SLAM directory.
We already provide the vocabulary file we use in ORB_SLAM/Data. Uncompress the file, as it will be loaded much faster.
We already provide the vocabulary file we use in ORB_SLAM/Data/ORBvoc.txt.tar.gz. Uncompress the file, as it will be loaded much faster.

2. The last processed frame is published to the topic /ORB_SLAM/Frame. You can visualize it using image_view:

@@ -110,7 +110,7 @@ We already provide the vocabulary file we use in ORB_SLAM/Data. Uncompress the f

rosrun rviz rviz -d Data/rviz.vcg

- for ROS Groovy and Hydro:
- for ROS Groovy or newer versions:

rosrun rviz rviz -d Data/rviz.rviz

@@ -125,9 +125,9 @@ Tip: Use a roslaunch to launch ORB_SLAM, image_view and rviz from just one instr

roslaunch ExampleFuerte.launch

- for ROS Groovy and Hydro:
- for ROS Groovy or newer versions:

roslaunch ExampleGroovyHydro.launch
roslaunch ExampleGroovyOrNewer.launch


5) Example Sequence
@@ -136,15 +136,15 @@ We provide the settings and the rosbag of an example sequence in our lab. In thi
1. Download the rosbag file: http://webdiis.unizar.es/~raulmur/orbslam/downloads/Example.bag.tar.gz
Uncompress the file.

2. Launch ORB_SLAM with the settings for the example sequence. You should have already uncompressed the vocabulary file (/Data/ORBvoc.yml.tar.gz)
2. Launch ORB_SLAM with the settings for the example sequence. You should have already uncompressed the vocabulary file (/Data/ORBvoc.txt.tar.gz)

- for ROS Fuerte:

roslaunch ExampleFuerte.launch

- for ROS Groovy or newer versions:

roslaunch ExampleGroovyHydro.launch
roslaunch ExampleGroovyOrNewer.launch

3. Once the ORB vocabulary has been loaded, start playing the bag

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