小觅相机运行vins-mono

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 ```