How to use in OKVIS¶
If you wanna run OKVIS with MYNT EYE camera, please follow the steps:¶
Download MYNT-EYE-D-SDK and ROS Installation.
Install dependencies and build MYNT-EYE-OKVIS-Sample follow the procedure of the original OKVIS.
Update camera parameters to
<OKVIS>/config/config_mynteye.yaml
.Run OKVIS using MYNT® EYE.
Install MYNTEYE OKVIS¶
First install dependencies based on the original OKVIS, and the follow:
sudo apt-get install libgoogle-glog-dev
git clone -b mynteye https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git
cd MYNT-EYE-OKVIS-Sample/
mkdir build && cd build
cmake ..
make
Get camera calibration parameters¶
Through the GetIntrinsics()
and GetExtrinsics()
function of the MYNT-EYE-D-SDK API, you can get the camera calibration parameters of the currently open device, follow the steps:
cd MYNT-EYE-D-SDK
./samples/_output/bin/get_img_params
After running the above type, pinhole’s distortion_parameters
and camera parameters
is obtained, and then update to here .
according to following format. It should be noted that only first four parameters of coeffs need to be filled in the distortion_coefficients.
distortion_coefficients: [coeffs] # only first four parameters of coeffs need to be filled
focal_length: [fx, fy]
principal_point: [cx, cy]
distortion_type: radialtangential
Run MYNTEYE OKVIS¶
Run camera mynteye_wrapper_d
cd MYNT-EYE-D-SDK
source wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d mynteye.launch
Run MYNT-EYE-OKVIS-Sample
open another terminal and follow the steps.
cd MYNT-EYE-OKVIS-Sample/build
source devel/setup.bash
roslaunch okvis_ros mynteye_d.launch
And use rviz to display
cd ~/catkin_okvis/src/MYNT-EYE-OKVIS-Sample/config
rosrun rviz rviz -d rviz.rvi