How To Use In ORB_SLAM2¶
If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps:¶
Download MYNT-EYE-S-SDK and follow steps to install.
Follow the normal procedure to install ORB_SLAM2.
Run examples by MYNT® EYE.
Prerequisites¶
sudo apt-get -y install libglew-dev cmake libgoogle-glog-dev
cd ~
git clone https://github.com/stevenlovegrove/Pangolin.git
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 theROS_PACKAGE_PATH
environment variable. Open.bashrc
file and add at the end the following line.
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/MYNT-EYE-ORB-SLAM2-Sample
Execute build_ros.sh:
chmod +x build.sh
./build.sh
chmod +x build_ros.sh
./build_ros.sh
Stereo_ROS Example¶
Launch ORB_SLAM2
Stereo_ROS
Launch mynteye node
cd [path of mynteye-s-sdk]
make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
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