How to use in VIORB¶
If you wanna run VIORB with MYNT® EYE,please follow the steps:¶
Download MYNT-EYE-S-SDK and install mynt_eye_ros_wrapper.
Follow the normal procedure to install VIORB.
Update camera parameters to
<VIO>/config/mynteye_s.yaml
.Run mynt_eye_ros_wrapper and VIORB.
Install MYNT-EYE-VIORB-Sample.¶
git clone -b mynteye https://github.com/slightech/MYNT-EYE-VIORB-Sample.git
cd MYNT-EYE-VIORB-Sample
ROS_PACKAGE_PATH
environment variable. Open .bashrc
file and add at the end the following line. Replace PATH
by the folder where you cloned MYNT-EYE-VIORB-Sample
:
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/Examples/ROS/ORB_VIO
Execute:
cd MYNT-EYE-VIORB-Sample
./build.sh
Get image calibration parameters¶
Assume that the left eye of the mynteye camera is used with IMU. Through the GetIntrinsics()
and GetExtrinsics()
function of the MYNT-EYE-S-SDK API, you can get the image calibration parameters of the currently open device:
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 <MYNT-EYE-VIORB-Sample>/config/mynteye.yaml
.
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.
Run VIORB and mynt_eye_ros_wrapper¶
Launch mynteye node
roslaunch mynt_eye_ros_wrapper mynteye.launch
Open another terminal and run viorb
roslaunch ORB_VIO testmynteye_s.launch
Finally, pyplotscripts
can be used to visualize some results.