ORB_SLAM2 如何整合¶
在 MYNT® EYE 上运行 ORB_SLAM2 ,请依照这些步骤:¶
- 下载 MYNT-EYE-D-SDK 及 ROS 安装。
- 按照步骤安装 ORB_SLAM2 。
- 在 MYNT® EYE 上运行例子。
ROS 下创建单目和双目节点¶
- 添加
Examples/ROS/ORB_SLAM2
路径到环境变量ROS_PACKAGE_PATH
。打开.bashrc
文件,在最后添加下面命令行。PATH
为当前ORB_SLAM2
存放路径:
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
- 运行脚本 build_ros.sh :
chmod +x build_ros.sh
./build_ros.sh
Stereo_ROS 例子¶
1.运行mynteye节点
cd [path of mynteye-d-sdk]
make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d orb_slam2.launch
2.打开另一个命令行运行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