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_img_params 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.