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SYSU-STAR / H2-Mapping

H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation (2023 RAL Best Paper Award)
GNU General Public License v3.0
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How to use Intel Realsense calibrated data in this particular usecase? #41

Open ShreyasKuntnal opened 3 months ago

ShreyasKuntnal commented 3 months ago

I have completely implemented H2-Mapping on my PC with 4070 GPU. I have calibrated intel realsense (D435i) colour camera following Patrick Geneva sensor calibration guide. I got YAML file which contains this info of IMU calibration and camera calibration IMU: image camera: camera_imu_calib3-report-imucam.pdf

Then I processed these camera and IMU data to vins format using kalib2vins package.

Finally, I got these below data: cam0.yaml: image

vins_config.yaml: image

But dvins/config/ folder has mutiple config files and they have extrinsic transformation and extrinsic rotation tags. So, how to use these OpenCV matrix in the above vins?

ShreyasKuntnal commented 3 months ago

@JIANG-CX Can you please help with this issue?

JIANG-CX commented 3 months ago

hi, I am dealing some urgent things currently. I will response your questions next week as soon as possible.

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发件人: Shreyas K @.> 发送时间: Friday, July 5, 2024 3:15:07 PM 收件人: SYSU-STAR/H2-Mapping @.> 抄送: JIANG Chenxing @.>; Mention @.> 主题: Re: [SYSU-STAR/H2-Mapping] How to use Intel Realsense calibrated data in this particular usecase? (Issue #41)

@JIANG-CXhttps://github.com/JIANG-CX Can you please help with this issue?

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ShreyasKuntnal commented 2 months ago

Hi, Can you please look into above issue?

JIANG-CX commented 2 months ago

You can follow https://github.com/HKUST-Aerial-Robotics/VINS-Mono?tab=readme-ov-file#5-run-with-your-device to write your own config, and change the "config_path" in the uav_nerf.launch