一.安装依赖项
1.安装必要工具
sudo apt-get install cmake
sudo apt-get install git
2.安装Pangolin
sudo apt-get install libglew-dev
sudo apt-get install libpython2.7-dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake ..
make
sudo make install
3.安装OPENCV和EIGEN3(网址随便搜教程)
4.安装GLOG
git clone https://github.com/google/glog
sudo apt-get install autoconf automake libtool
cd glog
./autogen.sh
./configure
make -j 24
sudo make install
5.安装MYNT-EYE-ORB-SLAM2-Sample
cd MYNT-EYE-ORB-SLAM2-Sample
chmod +x build.sh
./build.sh
6.添加环境变量
sudo vim ~/.bashrc
在最后一行添加
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
注意:其中PATH/ORB_SLAM2/Examples/ROS是你自己的路径,一定要写正确
source ~/.bashrc
7.Execute build_ros.sh script:
cd <ORB_SLAM2>
chmod +x build_ros.sh
./build_ros.sh
8.测试
cd ~/mynteye-s-sdk
make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch
另一个终端
rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw