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.

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-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_img_params 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

How To Use In OKVIS¶