How To Use In VIORB

If you wanna run VIORB with MYNT® EYE，please follow the steps:

  1. Download MYNT-EYE-S-SDK and install mynt_eye_ros_wrapper.

  2. Follow the normal procedure to install VIORB.

  3. Update camera parameters to <VIO>/config/mynteye_s.yaml.

  4. 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_img_params to write a default pinhole config file to your device.

Run VIORB and mynt_eye_ros_wrapper

  1. Launch mynteye node

roslaunch mynt_eye_ros_wrapper mynteye.launch

  1. Open another terminal and run viorb

roslaunch ORB_VIO testmynteye_s.launch

Finally, pyplotscripts can be used to visualize some results.