MYNTAI MYNT EYE D-Series, Документация

Страница: 76 / 112

MYNT EYE D SDK Documentation, Release 1.8.0
(continued from previous page)
mkdir build && cd build
cmake ..
make
6.3.3 Get camera calibration parameters
Through the GetIntrinsics() and GetExtrinsics() function of the MYNT-EYE-D-SDK API, you can get
the camera calibration parameters of the currently open device, follow the steps:
cd MYNT-EYE-D-SDK
./samples/_output/bin/get_img_params
After running the above type, pinhole’s
distortion_parameters
and
camera parameters
is obtained, and
then update to here .
according to following format. It should be noted that only first four parameters of coeffs need to be filled in the
distortion_coefficients.
distortion_coefficients: [ coeffs ] # only first four parameters of coeffs need to be
˓ →
filled
focal_length: [ fx, fy ]
principal_point: [ cx, cy ]
distortion_type: radialtangential
6.3.4 Run MYNTEYE OKVIS
Run camera mynteye_wrapper_d
cd MYNT-EYE-D-SDK
source wrappers/ros/devel/setup.bash
roslaunch mynteye_wrapper_d mynteye.launch
Run
MYNT-EYE-OKVIS-Sample
open another terminal and follow the steps.
cd MYNT-EYE-OKVIS-Sample/build
source devel/setup.bash
roslaunch okvis_ros mynteye_d.launch
And use rviz to display
cd ~/catkin_okvis/src/MYNT-EYE-OKVIS-Sample/config
rosrun rviz rviz -d rviz.rvi
6.4 How To Use In VIORB
6.4.1 If you wanna run VIORB with MYNT® EYEplease follow the steps:
1. Download MYNT-EYE-D-SDK and ROS Wrapper Installation .
2. Follow the normal procedure to install VIORB.
3. Update camera parameters to
<VIO>/config/mynteye_d.yaml
.
72 Chapter 6. OPEN SOURCE SUPPORT