MYNTEYE双目惯导相机跑通VINS-Mono，OKVIS
VINS代码地址：https://github.com/HKUST-Aerial-Robotics/VINS-Mono
https://github.com/slightech/MYNT-EYE-OKVIS-Sample
- Install MYNTEYE OKVIS
git clone -b mynteye https://github.com/slightech/MYNT-EYE-OKVIS-Sample.git
cd MYNT-EYE-OKVIS-Sample/
mkdir build && cd build
cmake ..
make
- Get camera calibration parameters
cd MYNT-EYE-S-SDK
./samples/_output/bin/tutorials/get_img_params
运行上述类型后，获取针孔的distortion_parameters和摄像机参数
注意：只需要在distortion_coefficients中填充coeffs的前四个参数
I/utils.cc:35 Detecting MYNT EYE devices
I/utils.cc:48 MYNT EYE devices:
I/utils.cc:51 index: 0, name: MYNT-EYE-S1030, sn: 4B4C032300090712, firmware: 2.2
I/utils.cc:60 Only one MYNT EYE device, select index: 0
I/synthetic.cc:52 camera calib model: pinhole
W/version_checker.cc:126 We suggest that you should update the firmware;
Read the doc (https://mynt-eye-s-sdk.readthedocs.io/en/latest/src/firmware/applicable.html) to learn more.
I/utils.cc:93 MYNT EYE requests:
I/utils.cc:96 index: 0, request: width: 752, height: 480, format: Format::YUYV, fps: 60
I/utils.cc:101 Only one stream request, select index: 0
I/get_img_params.cc:44 Intrinsics left: {pinhole, width: 752, height: 480, fx: 362.20059643202876032, fy: 363.50065250745848289, cx: 406.58699068023440759, cy: 234.35161110061483214, model: 0, coeffs: [-0.25034765682756088, 0.05057939920289762, -0.00070536676161976, -0.00852554513070338, 0.00000000000000000]}
I/get_img_params.cc:45 Intrinsics right: {pinhole, width: 752, height: 480, fx: 365.14014888558477878, fy: 365.13385298966960590, cx: 389.32395100630907336, cy: 234.95160212312546832, model: 0, coeffs: [-0.30377346762098512, 0.07992969367399984, 0.00005154751753072, -0.00067345903740579, 0.00000000000000000]}
I/get_img_params.cc:46 Extrinsics right to left: {rotation: [0.99867908939669447, -0.00634455661374854, 0.05098845950961969, 0.00598903163893333, 0.99995670037792639, 0.00712242018683670, -0.05103144032669509, -0.00680764060926713, 0.99867384471984544], translation: [-120.02489764113249748, -1.17826374090507469, -5.20582051599965379]}
ROSMsgInfoPair:
left:
width: 752, height: 480
distortion_model: PINHOLE
D: -0.250348,0.0505794,-0.000705367,-0.00852555,0,
K: 362.201,0,363.501,0,406.587,234.352,0,0,1,
R: 0.995541,0.00317344,0.0942805,-0.00348417,0.999989,0.00313134,-0.0942695,-0.00344587,0.995541,
P: 326.239,0,340.971,0,0,326.239,235.709,0,0,0,1,0,
right:
width: 752, height: 480
distortion_model: PINHOLE
D: -0.303773,0.0799297,5.15475e-05,-0.000673459,0,
K: 365.14,0,365.134,0,389.324,234.952,0,0,1,
R: 0.999013,0.00980714,0.04333,-0.00966439,0.999947,-0.00350257,-0.0433621,0.00308036,0.999055,
P: 326.239,0,340.971,-39195.5,0,326.239,235.709,0,0,0,1,0,
获取针孔的distortion_parameters和摄像机参数，然后根据以下格式更新到修改config_mynteye_s.yaml里对应的参数
distortion_coefficients: [coeffs]
focal_length: [fx, fy]
principal_point: [cx, cy]
distortion_type: radialtangential
- 运行MYNTEYE OKVIS
cd MYNT-EYE-OKVIS-Sample/bin
./okvis_app_mynteye_s ../config/config_mynteye_s.yaml
VINS-Mono
VINS-Mono 主要用于自主无人机的状态估计和反馈控制，但它也能够为 AR 应用提供精确的定位。VINS-Mobile 可以运行在 iOS 系统。
https://zhuanlan.zhihu.com/p/48728586?edition=yidianzixun&utm_source=yidianzixun&yidian_docid=0KS7jba3&yidian_s=&yidian_appid=s3rd_op397
用小觅双目惯导标准版
roslaunch vins_estimator mynteye—_s.launch