【ROS编译问题】ubuntu16.04 小觅双目摄像头环境配置(深度版)

首先声明,本人的系统是ubuntu16.04, 相应的ROS为Kinetic版本
小觅双目摄像头,有标准版和深度版,本文主要是针对深度版的摄像头配置环境,因为手上只有这个,并记录下遇到的问题,与解决方法.
1.一开始不知道有标准跟深度,看到公司有这个,就想装上玩一下,没想到就踩坑了,拿着深度版的摄像头在配置标准版的环境,出问题来还不知道是哪里,在运行launch文件那关就过不了了,所以开始在网上求解.
2.遇到一个缺包的问题.

1.深度版SDK的环境配置

在环境配置中,需要两个包,一个是MYNT-EYE-SDK-D-SDK(注意是D,代表深度),还有一个是VINS-Mono.

环境具体配置是参考:https://blog.csdn.net/fang794735225/article/details/84722728

但是在catkin_make,编译工作空间时,就出现问题了

-- Found the following Boost libraries:
--   filesystem
--   program_options
--   system
CMake Error at MYNT-EYE-VINS-Sample-mynteye-d/camera_model/CMakeLists.txt:19 (find_package):
  By not providing "FindCeres.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "Ceres", but
  CMake did not find one.

  Could not find a package configuration file provided by "Ceres" with any of
  the following names:

    CeresConfig.cmake
    ceres-config.cmake

  Add the installation prefix of "Ceres" to CMAKE_PREFIX_PATH or set
  "Ceres_DIR" to a directory containing one of the above files.  If "Ceres"
  provides a separate development package or SDK, be sure it has been
  installed.


-- Configuring incomplete, errors occurred!

找不到这个Ceres的文件,所以又开始找这个问题,但是网上对这个Cerse文件包的相关资料没那么多,经过这篇博客

https://blog.csdn.net/qq_15642411/article/details/83656855

了解到是缺了文件包,然后就开始安装Cerse

https://blog.csdn.net/jz1570551401/article/details/78207208

按照这篇博客的操作,完成安装Cerse库

回到第一篇博客继续配置深度版环境, 但是注意:是在sdk包打开相机,两个包别搞错了.在sdk的包里面source一下环境

效果图

Other Samples:

在sdk的目录下有很多其他的samples可以跑跑看