运行基于小觅深度摄像头的ORB-SLAM2

运行基于小觅深度摄像头的ORB-SLAM2

1.安装Opencv3.4.1

小觅客服推荐的版本。

sudo apt-get install build-essential
sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev
cd opencv
mkdir build
cd build
cmake ..
make -j
sudo make install

2.SDK安装

https://slightech.github.io/MYNT-EYE-D-SDK/build_linux.html

sudo apt-get install libpcl-dev libproj-dev libopenni2-dev libopenni-dev
cd MYNT-EYE-D-SDK
make init
make all

运行一个例程测试

./samples/_output/bin/get_image

3.ROS安装

https://slightech.github.io/MYNT-EYE-D-SDK/ros_install.html

wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic

可能会出现Failed to find glog
sudo apt-get install libgoogle-glog-dev

4.运行

vim ~/.bashrc

最后一行加入

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/andrew/ORB-SLAM/MYNT-EYE-ORB-SLAM2-Sample/Examples/ROS

退出

source ~/.bashrc

进入MYNT-EYE-ORB-SLAM2-Sample文件夹

chmod +x build.sh
./build.sh
chmod +x build_ros.sh
./build_ros.sh

到MYNT-EYE-D-SDK文件夹下

make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d orb_slam2.launch

打开一个新终端

roscore

回到MYNT-EYE-ORB-SLAM2-Sample文件夹，打开一个新终端

rosrun ORB_SLAM2 mynteye_d_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_d_stereo.yaml true /mynteye/left/image_mono /mynteye/right/image_mono

完毕