Merge branch 'release/2.3.7' into develop
* release/2.3.7: docs(*): update changelog chore(*): update version docs(*): update ORB build docs(*): update slam
This commit is contained in:
John Zhao
commit
7ef64208be
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@ -14,7 +14,7 @@
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cmake_minimum_required(VERSION 3.0)
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cmake_minimum_required(VERSION 3.0)
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project(mynteye VERSION 2.3.6 LANGUAGES C CXX)
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project(mynteye VERSION 2.3.7 LANGUAGES C CXX)
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include(cmake/Common.cmake)
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include(cmake/Common.cmake)
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@ -1,6 +1,6 @@
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# MYNT® EYE S SDK
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# MYNT® EYE S SDK
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||||||
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||||||
[](https://github.com/slightech/MYNT-EYE-S-SDK)
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[](https://github.com/slightech/MYNT-EYE-S-SDK)
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## Overview
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## Overview
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@ -24,7 +24,7 @@ copyright = '2018, MYNTAI'
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author = 'MYNTAI'
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author = 'MYNTAI'
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# The short X.Y version
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# The short X.Y version
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version = '2.3.6'
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version = '2.3.7'
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# The full version, including alpha/beta/rc tags
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# The full version, including alpha/beta/rc tags
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release = version
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release = version
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@ -3,6 +3,12 @@
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Changelog
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Changelog
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=========
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=========
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2019-04-19(v2.3.7)
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||||||
|
-------------------
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1. Improve VINS-Fusion supporting
|
||||||
|
2. Improve ORB-SLAM2 supporting
|
||||||
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2019-04-15(v2.3.6)
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2019-04-15(v2.3.6)
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-------------------
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-------------------
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@ -5,7 +5,6 @@ Open Source project Support
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.. toctree::
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.. toctree::
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how_to_use_kalibr
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vins
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vins
|
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vins_fusion
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vins_fusion
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orb_slam2
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orb_slam2
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@ -1,300 +0,0 @@
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.. _how_to_use_kalibr:
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How to calibrate MYNTEYE by kalibr
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===================================
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Target
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------------
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* Calibrate the pose relationship between left and right camera
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* Calibrate the pose relationship left camera between and IMU
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Preparation
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------------
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* **Install kalibr**:Refer to `kalibr wiki <https://github.com/ethz-asl/kalibr/wiki/installation>`_ and follow the steps to install
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* **Calibration board**： kalibr supports ``chessbord`` , ``circlegrid`` , ``aprilgrid`` ,choose ``aprilgrid`` here Calibration board file can be directly `download <https://github.com/ethz-asl/kalibr/wiki/downloads>`_ , Or you can also generate calibration board by Kalibr tool.
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|
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|
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.. code-block:: bash
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|
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|
||||||
$ kalibr_create_target_pdf --type 'apriltag' --nx 6 --ny 6 --tsize 0.08 --tspace 0.3
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|
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|
||||||
View parameters' meanings by kalibr_create)target_pdf command:
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|
||||||
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|
||||||
.. code-block:: bash
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|
||||||
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|
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$ kalibr_create_target_pdf --h
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|
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usage:
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|
||||||
Example Aprilgrid:
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kalibr_create_target_pdf --type apriltag --nx 6 --ny 6 --tsize 0.08 --tspace 0.3
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|
||||||
Example Checkerboard:
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|
||||||
kalibr_create_target_pdf --type checkerboard --nx 6 --ny 6 -csx 0.05 --csy 0.1
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|
||||||
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|
||||||
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|
||||||
Generate PDFs of calibration patterns.
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|
||||||
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|
||||||
optional arguments:
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|
||||||
-h, --help show this help message and exit
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|
||||||
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|
||||||
Output options:
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|
||||||
output Output filename
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|
||||||
--eps Also output an EPS file
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|
||||||
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|
||||||
Generic grid options:
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|
||||||
--type GRIDTYPE The grid pattern type. ('apriltag' or 'checkerboard')
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|
||||||
--nx N_COLS The number of tags in x direction (default: 6)
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|
||||||
--ny N_ROWS The number of tags in y direction (default: 7)
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|
||||||
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|
||||||
Apriltag arguments:
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|
||||||
--tsize TSIZE The size of one tag [m] (default: 0.08)
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|
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--tspace TAGSPACING The space between the tags in fraction of the edge size
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|
||||||
[0..1] (default: 0.3)
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|
||||||
--tfam TAGFAMILIY Familiy of April tags ['t16h5', 't25h9', 't25h7',
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|
||||||
't36h11'] (default: t36h11)
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|
||||||
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|
||||||
Checkerboard arguments:
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|
||||||
--csx CHESSSZX The size of one chessboard square in x direction [m]
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|
||||||
(default: 0.05)
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|
||||||
--csy CHESSSZY The size of one chessboard square in y direction [m]
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|
||||||
(default: 0.05)
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|
||||||
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|
||||||
* **Calibrate the intrinsic IMU parameters** ：kalibr requires imu data to be calibrated by intrinsic parameters by default.The intrinsic parameters calibration tool uses `imu-tk <https://github.com/Kyle-ak/imu_tk.git>`_ .
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|
||||||
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|
||||||
* **Count imu data parameter**：
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|
||||||
* noise density
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|
||||||
* bias random walk
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|
||||||
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|
||||||
Using Allan analyzing tool `imu_utils <https://github.com/gaowenliang/imu_utils>`_, We can get the characteristics of above imu data,and to format the output as ``imu.yaml``
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|
||||||
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|
||||||
.. code-block:: bash
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|
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|
||||||
#Accelerometers
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|
||||||
accelerometer_noise_density: 0.02680146180736048 #Noise density (continuous-time)
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|
||||||
accelerometer_random_walk: 0.0026296086159332804 #Bias random walk
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|
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|
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#Gyroscopes
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|
||||||
gyroscope_noise_density: 0.008882328296710996 #Noise density (continuous-time)
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|
||||||
gyroscope_random_walk: 0.00037956578292701033 #Bias random walk
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|
||||||
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|
||||||
rostopic: /mynteye/imu/data_raw #the IMU ROS topic
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|
||||||
update_rate: 200.0 #Hz (for discretization of the values above)
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|
||||||
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|
||||||
Calibrate the pose relationship between left and right camera
|
|
||||||
--------------------------------------------------------------
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|
||||||
|
|
||||||
* Collect calibration images: kalibr supports the collection of the required calibration images through two ways:by ``rosbag`` or collect offline images . Using ``rosbag`` here for convenience,Reference `link <https://github.com/ethz-asl/kalibr/wiki/bag-format>`_ for collecting images.
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|
||||||
* Method of collecting images by ``rosbag`` :fix mynteye camera,move ``aprilgrid`` calibration board in the camera field of view.
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|
||||||
* To increase the calibration time,try to use image acquisition data with lower frame rate,kalibr recommends using ``4Hz`` frame rate,here uses ``10hz`` .
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|
||||||
* MYNTEYE S series camera offers images at least 10Hz,You can use `topic_tools <http://wiki.ros.org/topic_tools/throttle>`_ to modify frequency,because using 10Hz requires more calibration time.
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|
||||||
* Record ``static.bag`` : After fix the mynteye camera,start `wrapper <https://github.com/slightech/MYNT-EYE-S-SDK>`_, record the topic of the left and right images to ``static.bag`` .
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|
||||||
|
|
||||||
.. code-block:: bash
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|
||||||
|
|
||||||
$ source wrappers/ros/devel/setup.bash
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|
||||||
$ roslaunch mynt_eye_ros_wrapper display.launch
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|
||||||
$ cd ~
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|
||||||
$ mkdir -p bag
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|
||||||
$ cd bag
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|
||||||
$ rosbag record -O static_10hz /mynteye/left/image_raw /mynteye/right/image_raw #recommand use 10hz,you can also use topic_tools to publish 4hz.
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|
||||||
|
|
||||||
* kalibr calibration:
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|
||||||
|
|
||||||
.. code-block:: bash
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|
||||||
|
|
||||||
$ kalibr_calibrate_cameras --target aprilgrid.yaml --bag ~/bag/static_10hz.bag --models pinhole-radtan pinhole-radtan --topics /mynteye/left/image_raw /mynteye/right/image_raw
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|
||||||
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|
||||||
View parameters' meanings by kalibr_calibrate_cameras command:
|
|
||||||
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|
||||||
.. code-block:: bash
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|
||||||
|
|
||||||
$ kalibr_calibrate_cameras --h
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|
||||||
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|
||||||
Calibrate the intrinsics and extrinsics of a camera system with non-shared
|
|
||||||
overlapping field of view.
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|
||||||
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|
||||||
usage:
|
|
||||||
Example usage to calibrate a camera system with two cameras using an aprilgrid.
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|
||||||
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|
||||||
cam0: omnidirection model with radial-tangential distortion
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|
||||||
cam1: pinhole model with equidistant distortion
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|
||||||
|
|
||||||
kalibr_calibrate_cameras --models omni-radtan pinhole-equi --target aprilgrid.yaml \
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|
||||||
--bag MYROSBAG.bag --topics /cam0/image_raw /cam1/image_raw
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|
||||||
|
|
||||||
example aprilgrid.yaml:
|
|
||||||
target_type: 'aprilgrid'
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|
||||||
tagCols: 6
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|
||||||
tagRows: 6
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|
||||||
tagSize: 0.088 #m
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|
||||||
tagSpacing: 0.3 #percent of tagSize
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|
||||||
|
|
||||||
optional arguments:
|
|
||||||
-h, --help show this help message and exit
|
|
||||||
--models MODELS [MODELS ...]
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|
||||||
The camera model ['pinhole-radtan', 'pinhole-equi',
|
|
||||||
'omni-radtan', 'pinhole-fov'] to estimate
|
|
||||||
|
|
||||||
Data source:
|
|
||||||
--bag BAGFILE The bag file with the data
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|
||||||
--topics TOPICS [TOPICS ...]
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|
||||||
The list of image topics
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|
||||||
--bag-from-to bag_from_to bag_from_to
|
|
||||||
Use the bag data starting from up to this time [s]
|
|
||||||
|
|
||||||
Calibration target configuration:
|
|
||||||
--target TARGETYAML Calibration target configuration as yaml file
|
|
||||||
|
|
||||||
Image synchronization:
|
|
||||||
--approx-sync MAX_DELTA_APPROXSYNC
|
|
||||||
Time tolerance for approximate image synchronization
|
|
||||||
[s] (default: 0.02)
|
|
||||||
|
|
||||||
Calibrator settings:
|
|
||||||
--qr-tol QRTOL The tolerance on the factors of the QR decomposition
|
|
||||||
(default: 0.02)
|
|
||||||
--mi-tol MITOL The tolerance on the mutual information for adding an
|
|
||||||
image. Higher means fewer images will be added. Use -1
|
|
||||||
to force all images. (default: 0.2)
|
|
||||||
--no-shuffle Do not shuffle the dataset processing order
|
|
||||||
|
|
||||||
Outlier filtering options:
|
|
||||||
--no-outliers-removal
|
|
||||||
Disable corner outlier filtering
|
|
||||||
--no-final-filtering Disable filtering after all views have been processed.
|
|
||||||
--min-views-outlier MINVIEWOUTLIER
|
|
||||||
Number of raw views to initialize statistics (default:
|
|
||||||
20)
|
|
||||||
--use-blakezisserman Enable the Blake-Zisserman m-estimator
|
|
||||||
--plot-outliers Plot the detect outliers during extraction (this could
|
|
||||||
be slow)
|
|
||||||
|
|
||||||
Output options:
|
|
||||||
--verbose Enable (really) verbose output (disables plots)
|
|
||||||
--show-extraction Show the calibration target extraction. (disables
|
|
||||||
plots)
|
|
||||||
--plot Plot during calibration (this could be slow).
|
|
||||||
--dont-show-report Do not show the report on screen after calibration.
|
|
||||||
|
|
||||||
Output the following three files after finish calibration:
|
|
||||||
|
|
||||||
* ``camchain-homezhangsbagstatic_10hz.yaml``
|
|
||||||
* ``report-cam-homezhangsbagstatic_10hz.pdf``
|
|
||||||
* ``results-cam-homezhangsbagstatic_10hz.txt``
|
|
||||||
|
|
||||||
.. tip::
|
|
||||||
|
|
||||||
If you use camera parameters in Vins,it would be better to choose the pinhole-equi model or the omni-radtan model.If you use camera parameters in Maplab,please choose pinhole-equi model
|
|
||||||
|
|
||||||
Calibrate the pose relationship between camera and IMU coordinate system
|
|
||||||
-------------------------------------------------------------------------
|
|
||||||
|
|
||||||
* **Collect calibration data**：as calibrate the pose relationship of camera,Kalibr supports two ways to collect data,we still use ``rosbag`` here.
|
|
||||||
* Method of collecting image: fix ``apilgrid`` calibration board, move camera
|
|
||||||
* Make sure that the data collected is good:the brightness of the calibration board should be appropriate,too bright or too dark can't guarantee the quality of data,meanwhile do not shake too fast to avoid blurring of the image.
|
|
||||||
* Set the imu publishing frequency to 200Hz,image to 20Hz(recommended by kalibr)
|
|
||||||
* Fully motivate each axis of the imu,for example ,3 actions on each axis,then in the \"8-shaped\" motion
|
|
||||||
|
|
||||||
* Record camera and imu as ``dynamic.bag``.
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
$ roslaunch mynt_eye_ros_wrapper display.launch
|
|
||||||
$ cd bag
|
|
||||||
$ rosbag record -O dynamic /mynteye/left/image_raw /mynteye/right/image_raw /mynteye/imu/data_raw #remember set image hz to 20hz, imu hz to 200hz
|
|
||||||
|
|
||||||
* kalibr calibration:
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
$ kalibr_calibrate_imu_camera --cam camchain-homezhangsbagstatic_10hz.yaml --target aprilgrid.yaml --imu imu.yaml --time-calibration --bag ~/bag/dynamic.bag
|
|
||||||
|
|
||||||
View the parameters' meanings by kalibr_calibrate_imu_camera command
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
$ kalibr_calibrate_imu_camera --h
|
|
||||||
|
|
||||||
Calibrate the spatial and temporal parameters of an IMU to a camera chain.
|
|
||||||
|
|
||||||
usage:
|
|
||||||
Example usage to calibrate a camera system against an IMU using an aprilgrid
|
|
||||||
with temporal calibration enabled.
|
|
||||||
|
|
||||||
kalibr_calibrate_imu_camera --bag MYROSBAG.bag --cam camchain.yaml --imu imu.yaml \
|
|
||||||
--target aprilgrid.yaml --time-calibration
|
|
||||||
|
|
||||||
camchain.yaml: is the camera-system calibration output of the multiple-camera
|
|
||||||
calibratin tool (kalibr_calibrate_cameras)
|
|
||||||
|
|
||||||
example aprilgrid.yaml: | example imu.yaml: (ADIS16448)
|
|
||||||
target_type: 'aprilgrid' | accelerometer_noise_density: 0.006
|
|
||||||
tagCols: 6 | accelerometer_random_walk: 0.0002
|
|
||||||
tagRows: 6 | gyroscope_noise_density: 0.0004
|
|
||||||
tagSize: 0.088 | gyroscope_random_walk: 4.0e-06
|
|
||||||
tagSpacing: 0.3 | update_rate: 200.0
|
|
||||||
|
|
||||||
optional arguments:
|
|
||||||
-h, --help show this help message and exit
|
|
||||||
|
|
||||||
Dataset source:
|
|
||||||
--bag BAGFILE Ros bag file containing image and imu data (rostopics
|
|
||||||
specified in the yamls)
|
|
||||||
--bag-from-to bag_from_to bag_from_to
|
|
||||||
Use the bag data starting from up to this time [s]
|
|
||||||
--perform-synchronization
|
|
||||||
Perform a clock synchronization according to 'Clock
|
|
||||||
synchronization algorithms for network measurements'
|
|
||||||
by Zhang et al. (2002).
|
|
||||||
|
|
||||||
Camera system configuration:
|
|
||||||
--cams CHAIN_YAML Camera system configuration as yaml file
|
|
||||||
--recompute-camera-chain-extrinsics
|
|
||||||
Recompute the camera chain extrinsics. This option is
|
|
||||||
exclusively recommended for debugging purposes in
|
|
||||||
order to identify problems with the camera chain
|
|
||||||
extrinsics.
|
|
||||||
--reprojection-sigma REPROJECTION_SIGMA
|
|
||||||
Standard deviation of the distribution of reprojected
|
|
||||||
corner points [px]. (default: 1.0)
|
|
||||||
|
|
||||||
IMU configuration:
|
|
||||||
--imu IMU_YAMLS [IMU_YAMLS ...]
|
|
||||||
Yaml files holding the IMU noise parameters. The first
|
|
||||||
IMU will be the reference IMU.
|
|
||||||
--imu-delay-by-correlation
|
|
||||||
Estimate the delay between multiple IMUs by
|
|
||||||
correlation. By default, no temporal calibration
|
|
||||||
between IMUs will be performed.
|
|
||||||
--imu-models IMU_MODELS [IMU_MODELS ...]
|
|
||||||
The IMU models to estimate. Currently supported are
|
|
||||||
'calibrated', 'scale-misalignment' and 'scale-
|
|
||||||
misalignment-size-effect'.
|
|
||||||
|
|
||||||
Calibration target:
|
|
||||||
--target TARGET_YAML Calibration target configuration as yaml file
|
|
||||||
|
|
||||||
Optimization options:
|
|
||||||
--time-calibration Enable the temporal calibration
|
|
||||||
--max-iter MAX_ITER Max. iterations (default: 30)
|
|
||||||
--recover-covariance Recover the covariance of the design variables.
|
|
||||||
--timeoffset-padding TIMEOFFSET_PADDING
|
|
||||||
Maximum range in which the timeoffset may change
|
|
||||||
during estimation [s] (default: 0.01)
|
|
||||||
|
|
||||||
Output options:
|
|
||||||
--show-extraction Show the calibration target extraction. (disables
|
|
||||||
plots)
|
|
||||||
--extraction-stepping
|
|
||||||
Show each image during calibration target extraction
|
|
||||||
(disables plots)
|
|
||||||
--verbose Verbose output (disables plots)
|
|
||||||
--dont-show-report Do not show the report on screen after calibration.
|
|
||||||
|
|
||||||
Output the follwing 4 files after finish calibration:
|
|
||||||
* ``camchain-imucam-homezhangsbagdynamic.yaml``
|
|
||||||
* ``imu-homezhangsbagdynamatic.yaml``
|
|
||||||
* ``report-imucam-homezhangsbagdynamic.pdf``
|
|
||||||
* ``results-imucam-homezhangsbagdynamic.yaml``
|
|
||||||
|
|
@ -9,41 +9,38 @@ If you wanna run ORB_SLAM2 with MYNT EYE camera, please follow the steps:
|
||||||
|
|
||||||
1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and follow steps to install.
|
1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and follow steps to install.
|
||||||
2. Follow the normal procedure to install ORB_SLAM2.
|
2. Follow the normal procedure to install ORB_SLAM2.
|
||||||
3. Update ``distortion_parameters`` and ``projection_parameters`` to ``<ORB_SLAM2>/config/mynteye_*.yaml``.
|
3. Run examples by MYNT® EYE.
|
||||||
4. Run examples by MYNT® EYE.
|
|
||||||
|
|
||||||
Binocular camera sample
|
Prerequisites
|
||||||
------------------------
|
--------------
|
||||||
|
|
||||||
* Calibrate a stereo camera with `ROS-StereoCalibration <http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration>`_ or OpenCV, and then update parameters to ``<ORB_SLAM2>/config/mynteye_s_stereo.yaml``.
|
|
||||||
|
|
||||||
* Execute ``build.sh``:
|
|
||||||
|
|
||||||
.. code-block:: bash
|
.. code-block:: bash
|
||||||
|
|
||||||
chmod +x build.sh
|
sudo apt-get -y install libglew-dev cmake
|
||||||
./build.sh
|
cd ~
|
||||||
|
git clone https://github.com/stevenlovegrove/Pangolin.git
|
||||||
* Run stereo sample using the follow type:
|
cd Pangolin
|
||||||
|
mkdir build
|
||||||
.. code-block:: bash
|
cd build
|
||||||
|
cmake ..
|
||||||
./Examples/Stereo/stereo_mynt_s ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
|
cmake --build .
|
||||||
|
sudo make install
|
||||||
|
|
||||||
Building the nodes for mono and stereo (ROS)
|
Building the nodes for mono and stereo (ROS)
|
||||||
--------------------------------------------
|
--------------------------------------------
|
||||||
|
|
||||||
* Add the path including ``Examples/ROS/ORB_SLAM2`` to the ``ROS_PACKAGE_PATH`` environment variable. Open ``.bashrc`` file and add at the end the following line. Replace ``PATH`` by the folder where you cloned ORB_SLAM2:
|
* Add the path including ``Examples/ROS/ORB_SLAM2`` to the ``ROS_PACKAGE_PATH`` environment variable. Open ``.bashrc`` file and add at the end the following line.
|
||||||
|
|
||||||
.. code-block:: bash
|
.. code-block:: bash
|
||||||
|
|
||||||
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
|
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/MYNT-EYE-ORB-SLAM2-Sample
|
||||||
|
|
||||||
* Execute `build_ros.sh`:
|
* Execute `build_ros.sh`:
|
||||||
|
|
||||||
.. code-block:: bash
|
.. code-block:: bash
|
||||||
|
|
||||||
|
chmod +x build.sh
|
||||||
|
./build.sh
|
||||||
chmod +x build_ros.sh
|
chmod +x build_ros.sh
|
||||||
./build_ros.sh
|
./build_ros.sh
|
||||||
|
|
||||||
|
|
@ -51,8 +48,6 @@ Building the nodes for mono and stereo (ROS)
|
||||||
Stereo_ROS Example
|
Stereo_ROS Example
|
||||||
~~~~~~~~~~~~~~~~~~~
|
~~~~~~~~~~~~~~~~~~~
|
||||||
|
|
||||||
* Reference ``Get camera calibration parameters`` in :ref:`slam_okvis` to get ``distortion_parameters`` and ``projection_parameters`` , and update ``<ORB_SLAM2>/config/mynteye_s_stereo.yaml`` .
|
|
||||||
|
|
||||||
* Launch ORB_SLAM2 ``Stereo_ROS``
|
* Launch ORB_SLAM2 ``Stereo_ROS``
|
||||||
|
|
||||||
1. Launch mynteye node
|
1. Launch mynteye node
|
||||||
|
|
@ -68,4 +63,4 @@ Stereo_ROS Example
|
||||||
|
|
||||||
.. code-block:: bash
|
.. code-block:: bash
|
||||||
|
|
||||||
rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml true /mynteye/left/image_raw /mynteye/right/image_raw
|
rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml false /mynteye/left_rect/image_rect /mynteye/right_rect/image_rect
|
||||||
|
|
|
||||||
|
|
@ -9,8 +9,7 @@ If you wanna run VINS-Mono with MYNT EYE camera, please follow the steps:
|
||||||
|
|
||||||
1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and install mynt_eye_ros_wrapper.
|
1. Download `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ and install mynt_eye_ros_wrapper.
|
||||||
2. Follow the normal procedure to install VINS-Mono.
|
2. Follow the normal procedure to install VINS-Mono.
|
||||||
3. Update ``distortion_parameters`` and ``projection_parameters`` to `here <https://github.com/slightech/MYNT-EYE-VINS-Sample/blob/mynteye/config/mynteye/mynteye_s_config.yaml>`_ .
|
3. Run mynt_eye_ros_wrapper and VINS-Mono.
|
||||||
4. Run mynt_eye_ros_wrapper and VINS-Mono.
|
|
||||||
|
|
||||||
Install ROS Kinetic conveniently (if already installed, please ignore)
|
Install ROS Kinetic conveniently (if already installed, please ignore)
|
||||||
----------------------------------------------------------------------
|
----------------------------------------------------------------------
|
||||||
|
|
@ -21,6 +20,22 @@ Install ROS Kinetic conveniently (if already installed, please ignore)
|
||||||
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
|
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
|
||||||
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
|
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
|
||||||
|
|
||||||
|
Install Ceres
|
||||||
|
--------------
|
||||||
|
|
||||||
|
.. code-block:: bash
|
||||||
|
|
||||||
|
cd ~
|
||||||
|
git clone https://ceres-solver.googlesource.com/ceres-solver
|
||||||
|
sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
|
||||||
|
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
|
||||||
|
sudo apt-get update && sudo apt-get install libsuitesparse-dev
|
||||||
|
mkdir ceres-bin
|
||||||
|
cd ceres-bin
|
||||||
|
cmake ../ceres-solver
|
||||||
|
make -j3
|
||||||
|
sudo make install
|
||||||
|
|
||||||
Install MYNT-EYE-VINS-Sample
|
Install MYNT-EYE-VINS-Sample
|
||||||
------------------------------
|
------------------------------
|
||||||
|
|
||||||
|
|
@ -28,28 +43,14 @@ Install MYNT-EYE-VINS-Sample
|
||||||
|
|
||||||
mkdir -p ~/catkin_ws/src
|
mkdir -p ~/catkin_ws/src
|
||||||
cd ~/catkin_ws/src
|
cd ~/catkin_ws/src
|
||||||
git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-Sample.git
|
git clone https://github.com/slightech/MYNT-EYE-VINS-Sample.git
|
||||||
cd ..
|
cd ..
|
||||||
catkin_make
|
catkin_make
|
||||||
source devel/setup.bash
|
source devel/setup.bash
|
||||||
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
|
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
|
||||||
source ~/.bashrc
|
source ~/.bashrc
|
||||||
|
|
||||||
Get image calibration parameters
|
(if you fail in this step, try to find another computer with clean system or reinstall Ubuntu and ROS)
|
||||||
---------------------------------
|
|
||||||
|
|
||||||
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:
|
|
||||||
|
|
||||||
.. code-block:: bash
|
|
||||||
|
|
||||||
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 <https://github.com/slightech/MYNT-EYE-VINS-Sample/blob/mynteye-s/config/mynteye/mynteye_config.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 :ref:`write_img_params` to write a default pinhole config file to your device.
|
|
||||||
|
|
||||||
Run VINS-Mono with MYNT® EYE
|
Run VINS-Mono with MYNT® EYE
|
||||||
-----------------------------
|
-----------------------------
|
||||||
|
|
@ -68,7 +69,3 @@ Run VINS-Mono with MYNT® EYE
|
||||||
|
|
||||||
cd ~/catkin_ws
|
cd ~/catkin_ws
|
||||||
roslaunch vins_estimator mynteye_s.launch
|
roslaunch vins_estimator mynteye_s.launch
|
||||||
|
|
||||||
.. note::
|
|
||||||
|
|
||||||
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>`_ .
|
|
||||||
|
|
|
||||||
|
|
@ -11,13 +11,30 @@ If you wanna run VINS-Fusion with MYNT EYE camera, please follow the steps:
|
||||||
2. Follow the normal procedure to install VINS-Fusion.
|
2. Follow the normal procedure to install VINS-Fusion.
|
||||||
3. Run mynt_eye_ros_wrapper and VINS-Fusion.
|
3. Run mynt_eye_ros_wrapper and VINS-Fusion.
|
||||||
|
|
||||||
|
Install ROS Kinetic conveniently (if already installed, please ignore)
|
||||||
|
----------------------------------------------------------------------
|
||||||
|
|
||||||
Prerequisites
|
.. code-block:: bash
|
||||||
|
|
||||||
|
cd ~
|
||||||
|
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
|
||||||
|
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic
|
||||||
|
|
||||||
|
Install Ceres
|
||||||
--------------
|
--------------
|
||||||
|
|
||||||
1. Install Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic.(if already installed, please ignore). `ROS Installation <http://wiki.ros.org/ROS/Installation>`_
|
.. code-block:: bash
|
||||||
2. Install `Ceres <http://ceres-solver.org/installation.html>`_
|
|
||||||
|
|
||||||
|
cd ~
|
||||||
|
git clone https://ceres-solver.googlesource.com/ceres-solver
|
||||||
|
sudo apt-get -y install cmake libgoogle-glog-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev
|
||||||
|
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
|
||||||
|
sudo apt-get update && sudo apt-get install libsuitesparse-dev
|
||||||
|
mkdir ceres-bin
|
||||||
|
cd ceres-bin
|
||||||
|
cmake ../ceres-solver
|
||||||
|
make -j3
|
||||||
|
sudo make install
|
||||||
|
|
||||||
Install MYNT-EYE-VINS-FUSION-Samples
|
Install MYNT-EYE-VINS-FUSION-Samples
|
||||||
-------------------------------------
|
-------------------------------------
|
||||||
|
|
@ -26,7 +43,7 @@ Install MYNT-EYE-VINS-FUSION-Samples
|
||||||
|
|
||||||
mkdir -p ~/catkin_ws/src
|
mkdir -p ~/catkin_ws/src
|
||||||
cd ~/catkin_ws/src
|
cd ~/catkin_ws/src
|
||||||
git clone -b mynteye https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
|
git clone https://github.com/slightech/MYNT-EYE-VINS-FUSION-Samples.git
|
||||||
cd ..
|
cd ..
|
||||||
catkin_make
|
catkin_make
|
||||||
source ~/catkin_ws/devel/setup.bash
|
source ~/catkin_ws/devel/setup.bash
|
||||||
|
|
@ -42,14 +59,15 @@ Run VINS-FUSION with MYNT® EYE
|
||||||
|
|
||||||
cd (local path of MYNT-EYE-S-SDK)
|
cd (local path of MYNT-EYE-S-SDK)
|
||||||
source ./wrappers/ros/devel/setup.bash
|
source ./wrappers/ros/devel/setup.bash
|
||||||
roslaunch mynt_eye_ros_wrapper mynteye.launch
|
roslaunch mynt_eye_ros_wrapper vins_fusion.launch
|
||||||
|
|
||||||
2. Open another terminal and run vins
|
2. Open another terminal and run vins
|
||||||
|
|
||||||
.. code-block:: bash
|
.. code-block:: bash
|
||||||
|
|
||||||
cd ~/catkin_ws
|
cd ~/catkin_ws/src
|
||||||
roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion
|
source ./devel/setup.bash
|
||||||
# roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion
|
roslaunch vins mynteye-s-stereo.launch # Stereo fusion / Stereo+imu fusion
|
||||||
# roslaunch vins mynteye-avarta-mono-imu.launch # mono+imu fusion with mynteye-avarta
|
# roslaunch vins mynteye-s-mono-imu.launch # mono+imu fusion
|
||||||
# roslaunch vins mynteye-avarta-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-avarta
|
# roslaunch vins mynteye-s2100-mono-imu.launch # mono+imu fusion with mynteye-s2100
|
||||||
|
# roslaunch vins mynteye-s2100-stereo.launch # Stereo fusion / Stereo+imu fusion with mynteye-s2100
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue
Block a user