ORB_SLAM2 如何整合

在 MYNT® EYE 上运行 ORB_SLAM2 ，请依照这些步骤：

  1. 下载 MYNT-EYE-D-SDK 及 ROS Wrapper 安装。

  2. 按照步骤安装 ORB_SLAM2 。

  3. 在 MYNT® EYE 上运行例子。

准备

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

下载 ORB_SLAM2

git clone  https://github.com/slightech/MYNT-EYE-ORB-SLAM2-Sample.git
cd MYNT-EYE-ORB-SLAM2-Sample

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:

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/MYNT-EYE-ORB-SLAM2-Sample

  • 运行脚本 build_ros.sh ：

chmod +x build.sh
./build.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