How to use in ORB_SLAM2¶
If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps:¶
Download MYNT-EYE-D-SDK and ROS Installation.
Follow the normal procedure to install ORB_SLAM2.
Run examples by MYNT® EYE.
Prerequisites¶
sudo apt-get -y install libglew-dev cmake
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 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. 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.sh
./build.sh
chmod +x build_ros.sh
./build_ros.sh
Stereo_ROS Example¶
Run camera mynteye_wrapper_d
cd [path of mynteye-d-sdk]
make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d orb_slam2.launch
Open another terminal and run ORB_SLAM2
rosrun ORB_SLAM2 mynteye_d_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_d_stereo.yaml true /mynteye/left/image_mono /mynteye/right/image_mono