参考资料：
单目跑TUM数据集的运行和函数调用过程
跑数据集不需要ros和相机标定，进入ORB_SLAM目录，执行以下命令：
./Examples/Monocluar/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml Examples/rgbd_dataset_freiburg1_xyz
需要等一会，加载ORB词袋，然后会尝试初始化，再过一会儿就可以看到运行效果了，最后的轨迹会输出到KeyFrameTrajectory.txt
1 root@song-Lenovo-G470:/home/song/ORB_SLAM2# ./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml Examples/rgbd_dataset_freiburg1_xyz/ 2 3 ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza. 4 This program comes with ABSOLUTELY NO WARRANTY; 5 This is free software, and you are welcome to redistribute it 6 under certain conditions. See LICENSE.txt. 7 8 Input sensor was set to: Monocular 9 10 Loading ORB Vocabulary. This could take a while... 11 Vocabulary loaded! 12 13 14 Camera Parameters: 15 - fx: 517.306 16 - fy: 516.469 17 - cx: 318.643 18 - cy: 255.314 19 - k1: 0.262383 20 - k2: -0.953104 21 - k3: 1.16331 22 - p1: -0.005358 23 - p2: 0.002628 24 - fps: 30 25 - color order: RGB (ignored if grayscale) 26 27 ORB Extractor Parameters: 28 - Number of Features: 1000 29 - Scale Levels: 8 30 - Scale Factor: 1.2 31 - Initial Fast Threshold: 20 32 - Minimum Fast Threshold: 7 33 34 ------- 35 Start processing sequence ... 36 Images in the sequence: 798 37 38 39 (ORB-SLAM2: Current Frame:6217): GLib-GIO-CRITICAL **: g_dbus_connection_register_object: assertion 'G_IS_DBUS_CONNECTION (connection)' failed 40 41 (ORB-SLAM2: Current Frame:6217): GLib-GIO-CRITICAL **: g_dbus_connection_register_object: assertion 'G_IS_DBUS_CONNECTION (connection)' failed 42 43 (ORB-SLAM2: Current Frame:6217): GLib-GIO-CRITICAL **: g_dbus_connection_get_unique_name: assertion 'G_IS_DBUS_CONNECTION (connection)' failed 44 New Map created with 91 points 45 Wrong initialization, reseting... 46 System Reseting 47 Reseting Local Mapper... done 48 Reseting Loop Closing... done 49 Reseting Database... done 50 New Map created with 94 points 51 Wrong initialization, reseting... 52 System Reseting 53 Reseting Local Mapper... done 54 Reseting Loop Closing... done 55 Reseting Database... done 56 New Map created with 93 points 57 Wrong initialization, reseting... 58 System Reseting 59 Reseting Local Mapper... done 60 Reseting Loop Closing... done 61 Reseting Database... done 62 New Map created with 109 points 63 ------- 64 65 median tracking time: 0.0856588 66 mean tracking time: 0.0895457 67 68 Saving keyframe trajectory to KeyFrameTrajectory.txt ... 69 70 trajectory saved!