How to use in OKVIS¶
If you wanna run OKVIS with MYNT EYE camera, please follow the steps:¶
- Download MYNT-EYE-S-SDK and install it.
- 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-S-SDK API, you can get the camera calibration parameters of the currently open device, follow the steps:
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 here .
Tip
You can get the camera model of device when get camera calibration parameters, if model is equidistant you need calibrate pinhole model by yourself or reference Write image parameters to write a default pinhole config file to your device.
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¶
Go to MYNT-EYE-OKVIS-Sample/build
folder and Run the application okvis_app_mynteye_s
:
cd MYNT-EYE-OKVIS-Sample/build
./okvis_app_mynteye_s ../config/config_mynteye_s.yaml