How to use in OKVIS

If you wanna run OKVIS with MYNT EYE camera, please follow the steps:

  1. Download MYNT-EYE-S-SDK and install it.
  2. Install dependencies and build MYNT-EYE-OKVIS-Sample follow the procedure of the original OKVIS.
  3. Update camera parameters to <OKVIS>/config/config_mynteye.yaml.
  4. 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