ORB-SLAM demo test

He gave Example, from the official website at the data set, you have to follow the run

https://blog.csdn.net/u010128736/article/category/6461394

With a depth camera, which is RGB-D data set to run

In Example / RGB-D / associations can find some official has generated good associations, I go directly to a frc1_xyz data set according to which some associations, run up test

Perform reads as follows:

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml Data/rgbd_dataset_freiburg1_xyz Examples/RGB-D/associations/fr1_xyz.txt

Run-time error occurs directly:

Pangolin:
Terminate called after throwing an instance of 'std::runtime_error'
what():: Pangolin X11: Unable to retrieve framebuffer options

Solutions are as follows

https://blog.csdn.net/tap880507/article/details/79683219

Solution: source directory Pangolin \ display_x11.cpp file \ display in the src \ device make the following changes, comments the following two lines of code:

staticint visual_attribs[] = 

{ 

    GLX_X_RENDERABLE , True, 

    GLX_DRAWABLE_TYPE , GLX_WINDOW_BIT, 

    GLX_RENDER_TYPE , GLX_RGBA_BIT, 

    GLX_X_VISUAL_TYPE , GLX_TRUE_COLOR, 

    GLX_RED_SIZE , 8, 

    GLX_GREEN_SIZE, 8, 

    GLX_BLUE_SIZE, 8, 

    GLX_ALPHA_SIZE, 8, 

    GLX_DEPTH_SIZE, 24, 

    GLX_STENCIL_SIZE, 8, 

    GLX_DOUBLEBUFFER , glx_doublebuffer ? True : False, 

    //注释这一行GLX_SAMPLE_BUFFERS , glx_sample_buffers, 

    //注释这一行 GLX_SAMPLES , glx_sample_buffers > 0 ? glx_samples : 0, 

    None 

}

When you're done re-cmake && make && make install

Then run the OK