79 lines
2.6 KiB
ReStructuredText
79 lines
2.6 KiB
ReStructuredText
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.. _slam_orb_slam2:
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How to use in `ORB_SLAM2 <https://github.com/raulmur/ORB_SLAM2>`_
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==================================================================
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If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps:
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-------------------------------------------------------------------------
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1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and follow steps to install.
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2. Follow the normal procedure to install ORB_SLAM2.
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3. Update ``distortion_parameters`` and ``projection_parameters`` to ``<ORB_SLAM2>/config/mynteye_*.yaml``.
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4. Run examples by MYNT® EYE.
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Binocular camera sample
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------------------------
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* Calibrate a stereo camera with `ROS-StereoCalibration <http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration>`_ or OpenCV, and then update parameters to ``<ORB_SLAM2>/config/mynteye_stereo.yaml``.
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* Execute ``build.sh``:
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.. code-block:: bash
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chmod +x build.sh
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./build.sh
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* Run stereo sample using the follow type:
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.. code-block:: bash
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./Examples/Stereo/stereo_mynt ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
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Building the nodes for mono and stereo (ROS)
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--------------------------------------------
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* Add the path including ``Examples/ROS/ORB_SLAM2`` to the ``ROS_PACKAGE_PATH`` environment variable. Open ``.bashrc`` file and add at the end the following line. Replace ``PATH`` by the folder where you cloned ORB_SLAM2:
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.. code-block:: bash
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export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
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* Execute `build_ros.sh`:
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.. code-block:: bash
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chmod +x build_ros.sh
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./build_ros.sh
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Mono_ROS Example
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~~~~~~~~~~~~~~~~~
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* Update ``distortion_parameters`` and ``projection_parameters`` in ``<ORBSLAM2>/config/mynteye_mono.yaml``
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.. code-block:: bash
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cd MYNT-EYE-S-SDK
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./samples/_output/bin/tutorials/get_img_params
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After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained, and then update to ``<ORB_SLAM2>/config/mynteye_mono.yaml``.
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* Launch ORB_SLAM2 ``Mono_ROS``
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.. code-block:: bash
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rosrun ORB_SLAM2 mynteye_mono ./Vocabulary/ORBvoc.txt ./config/mynteye_mono.yaml /mynteye/left/image_raw
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Stereo_ROS Example
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~~~~~~~~~~~~~~~~~~~
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* Calibrate a stereo camera with `ROS-StereoCalibration <http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration>`_ or OpenCV, and then update parameters to ``<ORB_SLAM2>/config/mynteye_stereo.yaml``.
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* Launch ORB_SLAM2 ``Stereo_ROS``
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.. code-block:: bash
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rosrun ORB_SLAM2 ros_mynteye_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
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