62 lines
2.4 KiB
ReStructuredText
62 lines
2.4 KiB
ReStructuredText
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.. _slam_vins:
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How to use in `VINS-Mono <https://github.com/HKUST-Aerial-Robotics/VINS-Mono>`_
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================================================================================
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If you wanna run VINS-Mono with MYNT EYE camera, please follow the steps:
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--------------------------------------------------------------------------
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1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and install mynt_eye_ros_wrapper.
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2. Follow the normal procedure to install VINS-Mono.
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3. Update ``distortion_parameters`` and ``projection_parameters`` to `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/blob/mynteye-s/config/mynteye/mynteye_config.yaml>`_ .
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4. Run mynt_eye_ros_wrapper and VINS-Mono.
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Install ROS Kinetic conveniently (if already installed, please ignore)
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----------------------------------------------------------------------
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.. code-block:: bash
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cd ~
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wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
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chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
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Install MYNT-EYE-VINS-Sample
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------------------------------
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.. code-block:: bash
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mkdir -p ~/catkin_ws/src
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cd ~/catkin_ws/src
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git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-VINS-Sample.git
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cd ..
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catkin_make
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source devel/setup.bash
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echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
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source ~/.bashrc
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Get image calibration parameters
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---------------------------------
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Use MYNT® EYE's left eye camera and IMU. By `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ API ``GetIntrinsics()`` function and ``GetExtrinsics()`` function, you can "get the image calibration parameters of the current working device:
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.. code-block:: bash
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cd MYNT-EYE-S-SDK
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./samples/_output/bin/tutorials/get_img_params
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After running the above type, pinhole's ``distortion_parameters`` and ``projection_parameters`` is obtained , and then update to `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/blob/mynteye-s/config/mynteye/mynteye_config.yaml>`_ .
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Run VINS-Mono with MYNT® EYE
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-----------------------------
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.. code-block:: bash
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cd ~/catkin_ws
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roslaunch mynt_eye_ros_wrapper mynteye.launch
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roslaunch vins_estimator mynteye.launch
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.. note::
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If you want to use a fish-eye camera model, please click `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/tree/mynteye-s/calibration_images>`_ .
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