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
原文链接:https://blog.csdn.net/a15172315112/article/details/112316129
7.orbslam3运行调试
于 2022-04-23 13:03:01 首次发布