1.前期准备
笔记本电脑环境:ubuntu 16.04/ros
传感器型号:小觅深度相机120(Product model:D1000-IR-120)
2.安装依赖项
2.1.cmake make gcc g++
2.2.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
2.3.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
3.安装小觅双目相机驱动
小觅深度相机安装过程
4.下载/安装MYNT-EYE-ORB-SLAM2-Sample
下载MYNT-EYE-ORB-SLAM2-Sample（https://github.com/slightech/MYNT-EYE-ORB-SLAM2-Sample）
cd MYNT-EYE-ORB-SLAM2-Sample chmod +x build.sh ./build.sh
cd /MYNT-EYE-ORB-SLAM2-Sample/Examples/ROS/ORB_SLAM2 chmod +x build_ros.sh ./build_ros.sh
5.测试过程
5.1.打开一个终端:
cd /MYNT-EYE-D-SDK
make ros
source /wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d mynteye.launch
5.2.打开另一个终端:
cd /MYNT-EYE-ORB-SLAM2-Sample
rosrun ORB_SLAM2 mynteye_d_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_d_stereo.yaml true /mynteye/left/image_color /mynteye/right/image_color
