MYNT-EYE-2-ORB_SLAM2-Sample以及ros配置过程总结

一、安装MYNT-EYE-SDK-2：
1 git clone https://github.com/slightech/MYNT-EYE-SDK-2.git
2安装依赖opencv
$ git clone https://github.com/opencv/opencv.git
$cd opencv/

$ git checkout tags/3.4.1

$ mkdir_build

$ cd_build/

$ cmake
-DCMAKE_BUILD_TYPE=RELEASE
-DCMAKE_INSTALL_PREFIX=/usr/local

-DWITH_CUDA=OFF

-DBUILD_DOCS=OFF
-DBUILD_EXAMPLES=OFF
-DBUILD_TESTS=OFF
-DBUILD_PERF_TESTS=OFF
…

$ make -j4

$ sudo make install
export OpenCV_DIR=~/opencv
3.编译并安装：
make install
make samples
运行样例：

./samples/_output/bin/api/camera_a

二、配置ROS下的ORB_SLAM2的依赖项
1安装pangolin

1.1 $ sudo apt-get install libglew-dev #安装Glew

1.2.$ sudo apt-get install cmake #安装CMake

2. #安装Boost

2.1 $ sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev

2.2 $ sudo apt-get install libpython2.7-dev #安装Python2 / Python3

3. #下载、编译、安装Pangolin:

3.1. $ git clone https://github.com/stevenlovegrove/Pangolin.git

3.2. $ cd Pangolin

3.3 $ mkdir build

3.4. $ cd build

3.5 $ cmake -DCPP11_NO_BOOST=1 …

3.6 $ make

3.7 $ sudo make install
4. 安装eigen3.1.0

4.1 sudo apt-get install libeigen3-dev
http://eigen.tuxfamily.org/index.php?title=Main_Page
解压完进入文件夹
mkdir build
cd build
cmake …
make
sudo make install

5 BLAS and LAPACK

$ sudo apt-get install libblas-dev

$ sudo apt-get install liblapack-dev
配置ORB-SLAM2
1、git clone https://github.com/slightech/MYNT-EYE-ORB-SLAM2-Sample.git
2、进入文件夹 export MYNTEYE_SDK2_ROOT=MYNT-EYE-SDK-2
3、chmod +x build.sh
4、./build.sh
配置ROS ORB_SLAM2
1、export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH(按自己路径修改)/ORB_SLAM2/Examples/ROS
2、./build_ros.sh (有个找不到头文件的错误，按路径放就好了)
运行测试

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
source /…/setup.bash
rosrun ORB_SLAM2 ros_mynteye_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw