小觅相机运行vins-mono

最新推荐文章于 2022-01-06 10:06:53 发布

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最新推荐文章于 2022-01-06 10:06:53 发布

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分类专栏： C/C++

本文链接：https://blog.csdn.net/a15172315112/article/details/112297883

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该博客详细介绍了如何配置和运行MYNT-EYE-D-SDK以及VINS-MONO。首先，通过克隆并编译MYNT-EYE-VINS-Sample来设置工作空间，接着获取传感器参数。然后，创建ROS的launch文件和config.yaml，调整相关参数。最后，分别启动相机和运行VINS-MONO进行视觉惯性导航。

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小觅相机运行vins-mono

mkdir -p ~/mynt-eye-vins-catkin_ws/src
cd ~/mynt-eye-vins-catkin_ws/src
git clone -b mynteye-s  https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd ..
catkin_make
source devel/setup.bash
echo "source ~/mynt-eye-vins-catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc



获取传感器的参数
cd MYNT-EYE-D-SDK
 ./samples/_output/bin/get_imu_params
 ./samples/_output/bin/get_imu_params 


2. 添加launch文件和config.yaml
	---------在/home/sloan/MYNT-EYE-S-SDK/wrappers/ros/src/mynt_eye_ros_wrapper/launch文件夹下新建一个mynteye.launch, 内容和euroc.launch基本一样，只修改config.yaml 的地址
    <arg name="config_path" default = "$(find feature_tracker)/../config/mynteye/mynteye_config.yaml" />

	----------在/home/sloan/mynt-eye-vins-catkin_ws/src/MYNT-EYE-VINS-Sample/config/mynteye文件夹下地址上新建一个mynteye_config.yaml，然后修改 imu_topic, image_topic, output_path, pose_graph_save_path, 还有相机和IMU的参数。


1.启动相机
cd ~/MYNT-EYE-S-SDK
source wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch

2.运行VINS-Mono

cd ~/mynt-eye-vins-catkin_ws
source devel/setup.bash
roslaunch vins_estimator mynteye.launch

source devel/setup.bash
roslaunch vins_estimator vins_rviz.launch ```