小觅相机跑ORB_SLAM2

#参考资料
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#小觅入门教程	https://www.ncnynl.com/archives/201910/3435.html

#ORB词典路径	/home/wuchun/ORB_SLAM2/Examples/Monocular/ORBvoc.txt
#相机参数文件	/home/wuchun/ORB_SLAM2/Examples/Monocular/TUM1.yaml


#启动小觅
roscore
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d mynteye.launch

#小觅左眼话题	/mynteye/left/image_color

#查看话题
rostopic list
rostopic echo 话题名

#录制话题
roscore

cd ~/bagfiles
$启动小觅
rosbag record -O xiaomi /mynteye/left/image_color

ros info <xxxx.bag> #检查bag包信息

ros play <xxxx.bag> #以话题形式回放

#降低频率到20Hz
rosrun topic_tools throttle messages /mynteye/left/image_color 20.0 /left
rosrun topic_tools throttle messages /mynteye/right/image_color 20.0 /right

#打印标定板
kalibr_create_target_pdf --h
kalibr_create_target_pdf --type checkerboard --nx 3 --ny 3 --csx 0.05 --csy 0.05
kalibr_create_target_pdf --type apriltag --nx 3 --ny 3 --tsize 0.05 --tspace 0.3
#kalibr标定命令
kalibr_calibrate_cameras --h
kalibr_calibrate_cameras --models pinhole-radtan --target '/home/wuchun/kalibr_workspace/aprilgrid.yaml' --bag '/home/wuchun/bagfiles/biaoding-9.24.bag' --topics /mynteye/left/image_color

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#实时ORB-SLAM2流程
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roscore

cd ~
cd MYNT-EYE-D-SDK
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d orb_slam2.launch

cd ~
cd ORB_SLAM2
rosrun ORB_SLAM2 Mono '/home/wuchun/ORB_SLAM2/Vocabulary/ORBvoc.txt' '/home/wuchun/ORB_SLAM2/Examples/Monocular/TUM1.yaml' 
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