<docs> update en doc

docs/src/slam/okvis.rst

@@ -0,0 +1,46 @@
+.. _slam_okvis:
+
+How to use in `OKVIS <https://github.com/ethz-asl/okvis>`_
+=============================================================
+
+If you wanna run OKVIS 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 it.
+2. Install dependencies and build MYNT-EYE-OKVIS-Sample follow the procedure of the original OKVIS.
+3. Update camera parameters to ``<OKVIS>/config/config_mynteye.yaml``.
+4. Run OKVIS using MYNT® EYE.
+
+Install MYNTEYE OKVIS
+---------------------
+
+First install dependencies based on the original OKVIS, and the follow:
+
+.. code-block:: bash
+
+  git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git
+  mkdir build && cd build
+  cmake -DCMAKE_BUILD_TYPE=Release ..
+  make -j4
+
+Get camera calibration parameters
+----------------------------------
+
+Through the ``GetIntrinsics()`` and ``GetExtrinsics()`` function of the `MYNT-EYE-S-SDK <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ API, you can get the camera calibration parameters of the currently open device, follow the steps:
+
+.. code-block:: bat
+
+  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, then update to `here <https://github.com/slightech/MYNT-EYE-OKVIS-Sample/blob/mynteye-s/config/config_mynteye.yaml>`_ .
+
+Run MYNTEYE OKVIS
+---------------------
+
+Go to ``MYNT-EYE-OKVIS-Sample/build`` folder and Run the application ``okvis_app_mynteye_s`` :
+
+.. code-block:: bash
+
+  cd MYNT-EYE-OKVIS-Sample/build
+  ./okvis_app_mynteye_s ../config/config_mynteye.yaml