How to use in VINS-Mono

If you wanna run VINS-Mono with MYNT EYE camera, please follow the steps:

  1. Download MYNT-EYE-S-SDK and install mynt_eye_ros_wrapper.
  2. Follow the normal procedure to install VINS-Mono.
  3. Update distortion_parameters and projection_parameters to here .
  4. Run mynt_eye_ros_wrapper and VINS-Mono.

Install ROS Kinetic conveniently (if already installed, please ignore)

cd ~
wget https://raw.githubusercontent.com/oroca/oroca-ros-pkg/master/ros_install.sh && \
chmod 755 ./ros_install.sh && bash ./ros_install.sh catkin_ws kinetic

Install MYNT-EYE-VINS-Sample

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd ..
catkin_make
source devel/setup.bash
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Get image calibration parameters

Use MYNT® EYE’s left eye camera and IMU. By MYNT-EYE-S-SDK API GetIntrinsics() function and GetExtrinsics() function, you can get the image calibration parameters of the current working device:

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 here .

Run VINS-Mono with MYNT® EYE

cd ~/catkin_ws
roslaunch mynt_eye_ros_wrapper mynteye.launch
roslaunch vins_estimator mynteye.launch

Note

If you want to use a fish-eye camera model, please click here .