How to use in ORB_SLAM2¶
If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps:¶
- Download MYNT-EYE-D-SDK and ROS Installation.
- Follow the normal procedure to install ORB_SLAM2.
- Update
distortion_parameters
andprojection_parameters
to<ORB_SLAM2>/config/mynteye_*.yaml
. - Run examples by MYNT® EYE.
Building the nodes for stereo (ROS)¶
- Add the path including
Examples/ROS/ORB_SLAM2
to theROS_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:
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
- Execute build_ros.sh:
chmod +x build_ros.sh
./build_ros.sh
Stereo_ROS Example¶
- Reference
Get camera calibration parameters
in How to use in OKVIS to getdistortion_parameters
andprojection_parameters
, and update<ORB_SLAM2>/config/mynteye_d_stereo.yaml
.- Launch ORB_SLAM2
Stereo_ROS
Run camera mynteye_wrapper_d
cd [path of mynteye-d-sdk]
make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d mynteye.launch
Open another terminal and run ORB_SLAM2
rosrun ORB_SLAM2 mynteye_d_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_d_stereo.yaml true /mynteye/left/image_mono /mynteye/right/image_mono