小觅相机运行okvis

小觅相机运行okvis

1.安装OKVIS
sudo apt-get install libgoogle-glog-dev
sudo apt-get install libatlas-base-dev

git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git
cd MYNT-EYE-OKVIS-Sample/
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j4

2.替换参数
获取原有相机该和imu的参数
cd ~/MYNT-EYE-S-SDK/
./samples/_output/bin/get_img_params  
./samples/_output/bin/get_imu_params   
输出的相机参数解释：
（1）尺寸大小width: 752, height: 480
（2）畸变模型distortion_model: KANNALA_BRANDT
（3）畸变参数D: -0.02167419872954549,0.00421102771341122,-0.00763591457230371,0.00171414333706472,0.00000000000000000,
（4）内参
     [fx  0 cx]
 K = [ 0 fy cy]
     [ 0  0  1]
     [366.83080923083076641,0.00000000000000000,373.53741439187382412
     0.00000000000000000,366.72196615950372234,258.90588171981272581
     0.00000000000000000,0.00000000000000000,1.00000000000000000]
  
（5）旋转矩阵R[0.99999349893096845,0.00320458924925652,0.00165308909098527,-0.00320054966010456,0.99999190007684913,-0.00244054554684525,-0.00166089664711240,0.00243523888696188,0.99999565550750824,]

（6）投影矩阵 
      [fx'  0  cx' Tx]
 P = [ 0  fy' cy' Ty]
     [ 0   0   1   0]
 focal lengths(fx', fy') and principal point (cx', cy') 
[367.31670435547675879,0.00000000000000000,335.57544708251953125,0.00000000000000000,
0.00000000000000000,367.31670435547675879,311.94967651367187500,0.00000000000000000,
0.00000000000000000,0.00000000000000000,1.00000000000000000,0.00000000000000000]

IMU参数解释：

3.修改源代码的参数文件
在MYNT-EYE-OKVIS-Sample/config/config_mynteye.yaml中更新参数。
需要修改的参数有  fx、fy、cx、cy
相机畸变参数 coeffs[5]=[k1,k2,p1,p2,k3]
imu噪声以及随机游走参数



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