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