66 lines
2.2 KiB
ReStructuredText
66 lines
2.2 KiB
ReStructuredText
.. _okvis:
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How To Use In `OKVIS <https://github.com/ethz-asl/okvis>`_
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=============================================================
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If you wanna run OKVIS 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 it.
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2. Install dependencies and build MYNT-EYE-OKVIS-Sample follow the procedure of the original OKVIS.
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3. Update camera parameters to ``<OKVIS>/config/config_mynteye.yaml``.
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4. Run OKVIS using MYNT® EYE.
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.. tip::
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OKVIS doesn't support ARM right now
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Install MYNTEYE OKVIS
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---------------------
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First install dependencies based on the original OKVIS, and the follow:
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.. code-block:: bash
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sudo apt-get install libgoogle-glog-dev
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git clone -b mynteye https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git
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cd MYNT-EYE-OKVIS-Sample/
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mkdir build && cd build
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cmake ..
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make
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Get camera calibration parameters
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----------------------------------
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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:
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.. code-block:: bat
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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-OKVIS-Sample/blob/mynteye/config/config_mynteye_s.yaml>`_ .
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.. tip::
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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.
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.. code-block:: bash
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distortion_coefficients: [coeffs] # only first four parameters of coeffs need to be filled
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focal_length: [fx, fy]
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principal_point: [cx, cy]
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distortion_type: radialtangential
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Run MYNTEYE OKVIS
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---------------------
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Go to ``MYNT-EYE-OKVIS-Sample/build`` folder and Run the application ``okvis_app_mynteye_s`` :
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.. code-block:: bash
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cd MYNT-EYE-OKVIS-Sample/build
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./okvis_app_mynteye_s ../config/config_mynteye_s.yaml
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