How to use in OKVIS

If you wanna run OKVIS with MYNT EYE camera, please follow the steps:

  1. Download MYNT-EYE-S-SDK 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:

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 API, you can get the camera calibration parameters of the currently open device, follow the steps:

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 .

Run MYNTEYE OKVIS

Go to MYNT-EYE-OKVIS-Sample/build folder and Run the application okvis_app_mynteye_s :

cd MYNT-EYE-OKVIS-Sample/build
./okvis_app_mynteye_s ../config/config_mynteye.yaml