How to use in ORB_SLAM2

If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps:

  1. Download MYNT-EYE-S-SDK and follow steps to install.
  2. Follow the normal procedure to install ORB_SLAM2.
  3. Update distortion_parameters and projection_parameters to <ORB_SLAM2>/config/mynteye_*.yaml.
  4. Run examples by MYNT® EYE.

Binocular camera sample

  • Calibrate a stereo camera with ROS-StereoCalibration or OpenCV, and then update parameters to <ORB_SLAM2>/config/mynteye_s_stereo.yaml.
  • Execute build.sh:
chmod +x build.sh
./build.sh
  • Run stereo sample using the follow type:
./Examples/Stereo/stereo_mynt_s ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw

Building the nodes for mono and stereo (ROS)

  • Add the path including Examples/ROS/ORB_SLAM2 to the ROS_PACKAGE_PATH environment variable. Open .bashrc file and add at the end the following line. Replace PATH by the folder where you cloned ORB_SLAM2:
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
  • Execute build_ros.sh:
chmod +x build_ros.sh
./build_ros.sh

Stereo_ROS Example

  • Reference Get camera calibration parameters in How to use in OKVIS to get distortion_parameters and projection_parameters , and update <ORB_SLAM2>/config/mynteye_s_stereo.yaml .
  • Launch ORB_SLAM2 Stereo_ROS
  1. Launch mynteye node
cd [path of mynteye-s-sdk]
make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
  1. Open another terminal and run ORB_SLAM2
rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw