How to Use In ORB_SLAM2

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

  1. Download MYNT-EYE-D-SDK and ROS Wrapper Installation.

  2. Follow the normal procedure to install ORB_SLAM2.

  3. 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 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.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