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