小觅相机运行ORB-SLAM2

小觅相机运行ORB-SLAM2

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


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

gedit ~/.bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/MYNT-EYE-ORB-SLAM2-Sample/Examples/ROS
source ~/.bashrc

cd ~/MYNT-EYE-ORB-SLAM2-Sample
chmod +x build.sh
./build.sh
chmod +x build_ros.sh
./build_ros.sh


4、运行双目相机：
cd ~/MYNT-EYE-S-SDK
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch

cd ~/MYNT-EYE-ORB-SLAM2-Sample
rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml  false /mynteye/left/image_raw /mynteye/right/image_raw

效果很好