小觅魔方安装MYNT-EYE-ORB-SLAM2-Sample测试

一.安装依赖项

1.安装必要工具

sudo apt-get install cmake


sudo apt-get install git

2.安装Pangolin

sudo apt-get install libglew-dev
sudo apt-get install libpython2.7-dev
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build && cd build
cmake ..
make 
sudo make install

3.安装OPENCV和EIGEN3（网址随便搜教程）

4.安装GLOG

git clone https://github.com/google/glog
sudo apt-get install autoconf automake libtool
cd glog
./autogen.sh
./configure
make -j 24
sudo make install

5.安装MYNT-EYE-ORB-SLAM2-Sample

cd MYNT-EYE-ORB-SLAM2-Sample
chmod +x build.sh
./build.sh

6.添加环境变量

sudo vim ~/.bashrc

在最后一行添加

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS

注意：其中PATH/ORB_SLAM2/Examples/ROS是你自己的路径，一定要写正确

source ~/.bashrc

7.Execute build_ros.sh script:

 cd <ORB_SLAM2>
 chmod +x build_ros.sh
 ./build_ros.sh

8.测试

cd ～/mynteye-s-sdk
make ros
source ./wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch

另一个终端

rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw