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jian-li / maker_binocular_ros

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README.md

#maker_binocular_ros ###安装环境配置,安装opencv,libusb

sudo apt-get install build-essential #install gcc, g++
sudo apt-get install libboost-dev
sudo apt-get install cmake # 安装cmake
sudo apt-get install libusb-1.0-0-dev #libusb支持
sudo apt-get install libopencv-dev #opencv的支持

###idVendor和idProduc 插拔双目相机,在终端输入

dmesg

找到Product为DUAL-CAM GLOBAL M9V024的usb设备对应的idVendor和idProduct

13472.009858] usb 3-2: new high-speed USB device number 24 using xhci_hcd
[13472.146367] usb 3-2: New USB device found, idVendor=04b4, idProduct=1005
[13472.146370] usb 3-2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[13472.146372] usb 3-2: Product: DUAL-CAM GLOBAL MT9V024 
[13472.146373] usb 3-2: Manufacturer: CypTest

###编译

mkdir build
cd build
cmake ..
make -j4

###权限设置 如果不设置rules,那么用普通用户启动应用程序的时候,会出现Pemission Denied.解决方法为在/etc/udev/rules.d目录中创建rules.例如 makerstereo.rules。

cd /etc/udev/rules.d
sudo touch makerstereo.rules
sudo vim makerstereo.rules
SUBSYSTEM=="usb", ATTRS{idVendor}=="04b4", MODE="0666"
SUBSYSTEM=="usb_device", ATTRS{idVendor}=="04b4", MODE="0666"
sudo service udev restart

###IMU单元 Maker binocular使用的IMU是MPU6050,加速度计的测量量程是2g,陀螺仪的测量量程是2000deg/s. 重启即可.

###Firmware版本 当前双目相机驱动IMU的频率分为120Hz和200Hz两种,分别对应imu_120_hz和master两个分支。 【注意】当前的固件版本不支持上位机更新,该功能正在开发,需要更新固件版本请联系卖家。

###IMU Calibrate IMU calibration modules used here is the IMU_tk,

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