小觅双目相机+okvis

1.非ROS版+

参考链接：

1.安装运行okvis odometry

2.小觅双目标准版okvis（备忘笔记）

3.使用 MYNTEYE 运行 OKVIS

安装步骤：

1.(打开终端：ctrl+alt+T)安装依赖环境(cmake,google-glog,gflags,BLAS & LAPACK,Eigen3,SuiteSparse and CXSparse,Boost,OpenCV 2.4-3.0

sudo apt-get install cmake              
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
sudo apt-get install libboost-dev libboost-filesystem-dev
sudo apt-get install libopencv-dev

2.下载MYNT-EYE-S-SDK并安装，具体步骤见github

https://github.com/slightech/MYNT-EYE-S-SDK

（1）下载MYNT-EYE-S-SDK：

git clone https://github.com/slightech/MYNT-EYE-S-SDK

(2)安装及最后的效果图：

cd  MYNT-EYE-S-SDK
make init 
make sample 
./sample/_output/bin/device/camera_d

3.添加 MYNT-EYE-SDK 路径到环境变量。

1）打开.bashrc文件

gedit  ~/.bashrc

在最后添加 export MYNTEYE_SDK2_ROOT='MYNT-EYE-S-SDK INSTALL PATH'

然后保存并source ~/.bashrc

4.安装依赖，按照原始 OKVIS 步骤安装 MYNT-EYE-OKVIS-Sample

详细参考网址：https://github.com/slightech/MYNT-EYE-OKVIS-Sample

1)下载OKVIS

git clone -b mynteye https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git
cd MYNT-EYE-OKVIS-Sample/
mkdir build && cd build

2）然后编译

cmake -DCMAKE_BUILD_TYPE=Release ..
make -j4

3）获取相机标定参数

cd MYNT-EYE-S-SDK
./samples/_output/bin/tutorials/get_img_params

4）运行MYNTEYE OKVIS

cd MYNT-EYE-OKVIS-Sample/build
./okvis_app_mynteye_s ../config/config_mynteye.yaml

注意：这里，可能会报以下错误：

/okvis_app_mynteye_s: error while loading shared libraries: libmynteye.so.2: cannot open shared object file: No such file or directory

解决方法：找到 libmynteye.so.2 的路径，并建立链接。

find / -name libmynteye.so.2

输出：

/home/youngo/MYNT-EYE-S-SDK/_output/lib/libmynteye.so.2

打开/etc/ld.so.conf，添加/home/youngo/MYNT-EYE-S-SDK/_output/lib，然后保存。

cd /etc/
sudo ldconfig

然后重新：

cd MYNT-EYE-OKVIS-Sample/build
./okvis_app_mynteye_s ../config/config_mynteye.yaml