How to use in ORB_SLAM2

If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps:

  1. Download MYNT-EYE-S-SDK and follow steps to install.
  2. Follow the normal procedure to install ORB_SLAM2.
  3. Update distortion_parameters and projection_parameters to <ORB_SLAM2>/config/mynteye_*.yaml.
  4. Run examples by MYNT® EYE.

Binocular camera sample

  • Calibrate a stereo camera with ROS-StereoCalibration or OpenCV, and then update parameters to <ORB_SLAM2>/config/mynteye_stereo.yaml.
  • Execute build.sh:
chmod +x build.sh
./build.sh
  • Run stereo sample using the follow type:
./Examples/Stereo/stereo_mynt ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw

Building the nodes for mono and stereo (ROS)

  • 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. 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

Mono_ROS Example

  • Update distortion_parameters and projection_parameters in <ORBSLAM2>/config/mynteye_mono.yaml
cd MYNT-EYE-S-SDK

./samples/_output/bin/tutorials/get_img_params

After running the above type, pinhole’s distortion_parameters and projection_parameters is obtained, and then update to <ORB_SLAM2>/config/mynteye_mono.yaml.

  • Launch ORB_SLAM2 Mono_ROS
rosrun ORB_SLAM2 mynteye_mono ./Vocabulary/ORBvoc.txt ./config/mynteye_mono.yaml /mynteye/left/image_raw

Stereo_ROS Example

  • Calibrate a stereo camera with ROS-StereoCalibration or OpenCV, and then update parameters to <ORB_SLAM2>/config/mynteye_stereo.yaml.
  • Launch ORB_SLAM2 Stereo_ROS
rosrun ORB_SLAM2 ros_mynteye_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw