67 lines
1.7 KiB
ReStructuredText
67 lines
1.7 KiB
ReStructuredText
.. _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. Run examples by MYNT® EYE.
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Prerequisites
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--------------
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.. code-block:: bash
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sudo apt-get -y install libglew-dev cmake libgoogle-glog-dev
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cd ~
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git clone https://github.com/stevenlovegrove/Pangolin.git
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cd Pangolin
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mkdir build
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cd build
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cmake ..
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cmake --build .
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sudo make install
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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.
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.. code-block:: bash
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export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/MYNT-EYE-ORB-SLAM2-Sample
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* Execute `build_ros.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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chmod +x build_ros.sh
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./build_ros.sh
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Stereo_ROS Example
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~~~~~~~~~~~~~~~~~~~
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* Launch ORB_SLAM2 ``Stereo_ROS``
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1. Launch mynteye node
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.. code-block:: bash
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cd [path of mynteye-s-sdk]
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make ros
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source ./wrappers/ros/devel/setup.bash
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roslaunch mynt_eye_ros_wrapper mynteye.launch
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2. Open another terminal and run ORB_SLAM2
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.. code-block:: bash
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rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml false /mynteye/left_rect/image_rect /mynteye/right_rect/image_rect
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