69 lines
2.3 KiB
ReStructuredText
69 lines
2.3 KiB
ReStructuredText
.. _slam_viorb:
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How to use in `VIORB <https://github.com/jingpang/LearnVIORB>`_
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================================================================
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If you wanna run VIORB with MYNT® EYE，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 VIORB.
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3. Update camera parameters to ``<VIO>/config/mynteye_s.yaml``.
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4. Run mynt_eye_ros_wrapper and VIORB.
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Install MYNT-EYE-VIORB-Sample.
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------------------------------
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.. code-block:: bash
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git clone -b mynteye https://github.com/slightech/MYNT-EYE-VIORB-Sample.git
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cd MYNT-EYE-VIORB-Sample
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``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``:
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.. code-block:: bash
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export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/Examples/ROS/ORB_VIO
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Execute:
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.. code-block:: bash
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cd MYNT-EYE-VIORB-Sample
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./build.sh
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Get image calibration parameters
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----------------------------------
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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:
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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 ``<MYNT-EYE-VIORB-Sample>/config/mynteye.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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Run VIORB and mynt_eye_ros_wrapper
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--------------------------------------
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1. Launch mynteye node
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.. code-block:: bash
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roslaunch mynt_eye_ros_wrapper mynteye.launch
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2. Open another terminal and run viorb
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.. code-block:: bash
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roslaunch ORB_VIO testmynteye_s.launch
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Finally, ``pyplotscripts`` can be used to visualize some results.
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