小觅相机运行ORB-SLAM3

1.Pangolin

1.Pangolin
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

2.ORB-SLAM3

cd ~/
git clone https://github.com/UZ-SLAMLab/ORB_SLAM3.git ORB_SLAM3
cd ORB_SLAM3

chmod +x build.sh
./build.sh

gedit ~/.bashrc
添加 export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ORB_SLAM3/Examples/ROS  到末尾
source ~/.bashrc

chmod +x build_ros.sh
./build_ros.sh

3.修改参数与运行

1.修改参数（参照	1.单目	即可）
	1.单目：
		（1）打开文件~/ORB_SLAM3/Examples/ROS/ORB_SLAM3/src/ros_mono.cc
		（2）修改topic "/camera/image_raw"  为 "/mynteye/left/image_raw"
		（3）复制一份EuRoC.yaml到 Examples/Monocular/my_MYNT.yaml，修改为自己的相机参数
	2.单目-惯性
		文件	ros_mono_inertial.cc
		修改topic为
		"/mynteye/imu/data_raw"
		"/mynteye/left/image_raw"
		文件夹：Monocular-Inertial
	3.双目相机
		文件	ros_stereo.cc
		修改topic为
		"/mynteye/left/image_raw"
		"/mynteye/right/image_raw"
		文件夹：Stereo
	4双目-惯性节点
		文件	ros_stereo_inertial.cc
		修改topic为
		"/mynteye/imu/data_raw"
		"/mynteye/left/image_raw"
		"/mynteye/right/image_raw"
		文件夹：Stereo-Inertial
2.然后执行下面两行代码，重新编译得到相应的可执行文件
		cd ~/ORB_SLAM3
		./build_ros.sh
		
3.运行ORB-SLAM3：
	1.打开相机：
		cd ~/MYNT-EYE-S-SDK
		source ./wrappers/ros/devel/setup.bash
		roslaunch mynt_eye_ros_wrapper mynteye.launch
	2.执行对应的程序
		cd ~/ORB_SLAM3
		单目：
		rosrun ORB_SLAM3 Mono Vocabulary/ORBvoc.txt Examples/Monocular/my_MYNT.yaml 
		单目+惯导：
		rosrun ORB_SLAM3 Mono_Inertial Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/my_MYNT.yaml 
		双目：
		rosrun ORB_SLAM3 Stereo Vocabulary/ORBvoc.txt Examples/Stereo/my_MYNT.yaml true
		双目+惯导：
		rosrun ORB_SLAM3 Stereo_Inertial Vocabulary/ORBvoc.txt Examples/Stereo-Inertial/my_MYNT.yaml true