小觅双目标准版okvis（备忘笔记）

1.下载MYNT-EYE-S-SDK并安装，具体步骤见github

https://github.com/slightech/MYNT-EYE-S-SDK

2.添加 MYNT-EYE-SDK 路径到环境变量。

1）打开.bashrc文件

gedit  ~/.bashrc

在最后添加 export MYNTEYE_SDK2_ROOT='MYNT-EYE-S-SDK INSTALL PATH'

然后保存并source ~/.bashrc

3.安装依赖，按照原始 OKVIS 步骤安装 MYNT-EYE-OKVIS-Sample

详细参考网址：https://github.com/slightech/MYNT-EYE-OKVIS-Sample

1)首先安装原始 OKVIS

git clone -b mynteye-s https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git
cd MYNT-EYE-OKVIS-Sample/
mkdir build && cd build

2）安装依赖

CMake

sudo apt-get install cmake

google-glog + gflags 

sudo apt-get install libgoogle-glog-dev

BLAS & LAPACK

sudo apt-get install libatlas-base-dev

Eigen3

sudo apt-get install libeigen3-dev

SuiteSparse and CXSparse 

sudo apt-get install libsuitesparse-dev

Boost

sudo apt-get install libboost-dev libboost-filesystem-dev

OpenCV 2.4-3.0: follow the instructions on http://opencv.org/ or install via

sudo apt-get install libopencv-dev

3）编译

cmake -DCMAKE_BUILD_TYPE=Release ..
make -j4

 4更新相机校准参数

cd MYNT-EYE-S-SDK
./samples/_output/bin/tutorials/get_img_params

 在MYNT-EYE-OKVIS-Sample/config/config_mynteye.yaml中更新参数。

5.运行MYNTEYE OKVIS

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

运行截图