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. Run examples by MYNT® EYE.


sudo apt-get -y install libglew-dev cmake libgoogle-glog-dev
cd ~
git clone
cd Pangolin
mkdir build
cd build
cmake ..
cmake --build .
sudo make install

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.

  • Execute

chmod +x
chmod +x

Stereo_ROS Example

  • 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 false /mynteye/left_rect/image_rect /mynteye/right_rect/image_rect