.. _slam_viorb:

How to use in `VIORB <https://github.com/jingpang/LearnVIORB>`_
=============================================================---


If you wanna run VIORB with MYNT® EYE，please follow the steps:
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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.
2. Follow the normal procedure to install VIORB.
3. Update camera parameters to ``<VIO>/config/mynteye_s.yaml``.
4. Run mynt_eye_ros_wrapper and VIORB.

Install MYNT-EYE-VIORB-Sample.
------------------------------

.. code-block:: bash

  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``:

.. code-block:: bash

  export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/Examples/ROS/ORB_VIO

Execute:

.. code-block:: bash

  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 <https://github.com/slightech/MYNT-EYE-S-SDK.git>`_ API, you can get the image calibration parameters of the currently open 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 ``<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 :ref:`write_img_params` to write a default pinhole config file to your device.

Run VIORB and mynt_eye_ros_wrapper
--------------------------------------

1. Launch mynteye node

.. code-block:: bash

  roslaunch mynt_eye_ros_wrapper mynteye.launch

2. Open another terminal and run viorb

.. code-block:: bash

  roslaunch ORB_VIO testmynteye_s.launch

Finally, ``pyplotscripts`` can be used to visualize some results.