使用小觅相机标准入门版运行vins

运行步骤概括

1. 下载相机驱动并编译
2. 下载源码并编译
3. 更新源码中的配置文件
4. 运行vins

详细步骤

• 前前提条件：电脑上已经安装了Ubuntu、ROS、OpenCV

第一步：下载相机驱动并编译

mkdir -p ~/ROS_WORKSPACE/mynt_eye_sdk/src
cd ROS_WORKSPACE/mynt_eye_sdk/src
git clone https://github.com/slightech/MYNT-EYE-S-SDK.git
cd MYNT-EYE-S-SDK
make ros
echo "~/ROS_WORKSPACE/mynt_eye_sdk/devel/setup.bashrc:>>~/.bashrc
source ~/.bashrc

第二步：下载源码并编译

mkdir -p ~/ROS_WORKSPACE/vins_mono_mynt_eye/src
cd ROS_WORKSPACE/vins_mono_mynt_eye/src
git clone https://github.com/slightech/MYNT-EYE-VINS-Sample.git
cd ..
catkin_make
echo "~/ROS_WORKSPACE/vins_mono_mynt_eye/devel/setup.bashrc
source ~/.bashrc

第三步：更新源码中的配置文件

3.1 获得相机与IMU参数

• 获取相机参数

  cd ROS_WORKSPACE/mynt_eye_sdk
  make samples                                     #编译sdk文件的sample
  ./samples/_output/bin/tutorials/get_img_params   #获得相机的参数
  

• 获得的相机参数为：

  #相机内参
  left: {
  pinhole, 
  width: 752, 
  height: 480, 
  fx: 358.17549797746926288
  fy: 359.24666800723582583
  cx: 388.61747233659593803
  cy: 240.16748092953034188 
  model: 0, 
  coeffs: [-0.25326343297436710, 0.04841619345004276, 0.00059805649233287, -0.00153479593317240, 0.00000000000000000]}
  
  right: {
  pinhole, 
  width: 752, 
  height: 480, 
  fx: 365.57553526747392425, 
  fy: 365.54425241123698243, 
  cx: 369.96980098269671089, 
  cy: 230.17462048185933554, 
  model: 0, 
  coeffs: [-0.30954460737697198, 0.08688922042475018, 0.00020528773279130, 0.00016894963631214, 0.00000000000000000]}
  
  #相机外参
  Extrinsics 
  right to left: 
  {rotation: [
  0.99946790791265716, -0.00301528183741204, -0.03247782517560629,
  0.00305611847196011, 0.99999460066266410, 0.00120780188953115, 
  0.03247400795377153, -0.00130641530915091, 0.99947172650678739], 
  translation: [121.15860396636720964, -0.18695081041847689, -2.23380732606506438]}
  

• 获取imu的参数

  cd ROS_WORKSPACE/mynt_eye_sdk
  ./samples/_output/bin/tutorials/get_imu_params   #获得imu参数
  

• 获得IMU参数为：

  camera calib model: pinhole
  Motion intrinsics:
   {accel: 
  {scale: 
  [
  1, 0, 0, 
  0, 1, 0,
  0, 0, 1
  ], 
  drift: [0., 0, 0], 
  noise: [0.01692543239797352, 0.01673531019556103, 0.01745248750459097], 
  bias: [0.00019031356589715, 0.00016996777864587, 0.00054490537096494]}, 
  
  gyro: {
  scale: 
  [
  1, 0, 0, 
  0, 1, 0, 
  0, 0, 1
  ], 
  drift: [0, 0, 0], 
  noise: [0.00108480261588199, 0.00124663678835018, 0.00110032299198064], 
  bias: [0.00002340483413674, 0.00002359677156776, 0.00001497041805633]}}
  
   Motion extrinsics left to imu: {
  rotation: [
  -0.00646620000000000, -0.99994994000000004, -0.00763565000000000, 
  0.99997908999999996, -0.00646566000000000, -0.00009558000000000,
   0.00004620000000000, -0.00763611000000000, 0.99997084000000003
  ], 
  translation: [0.00533646000000000, -0.04302922000000000, 0.02303124000000000]}
  

3.2： 修改源代码的参数文件

需要修改的文件为：~/ROS_WORKSPACE/vins_mono_mynt_eye/src/config/mynteye/mynteye_s_config

• 相机投影参数
  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
  得到的参数是3维的，但是源码的参数文件的数据只有一维？

第四步：运行vins

1. 启动相机

source ~/ROS-WORKSPACE/mynt_eye_sdk/src/wrappers/ros/devel/setup.bash
roslaunch mynt_eye_ros_wrapper mynteye.launch

2. 运行VINS-Mono

cd ~/ROS-WORKSPACE/vins_mono_mynt_eye
source devel/setup.bashrc
roslaunch vins_estimator mynteye_s.launch #注意这一句，有一个小尾巴s

3. 成功运行，得到结果
   

注意事项

• 每开一个新的终端，都要source一遍，否则找不到包
• 初始化的时候，相机晃动不要太厉害，否则运行的时候会漂移
  
• 更详细请参考：https://github.com/slightech/MYNT-EYE-VINS-Sample
• 安装小觅SDK详细步骤请参考：https://github.com/slightech/MYNT-EYE-S-SDK
• VINS-Mono源码网址：https://github.com/HKUST-Aerial-Robotics/VINS-Mono