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 Wrapper 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.

Tip

OKVIS doesn’t support ARM right now.

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

How To Use In OKVIS¶