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VIS4ROB-lab / covins

COVINS-(G) -- A (Generic) Framework for Collaborative Visual-Inertial SLAM and Multi-Agent 3D Mapping
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How to run covins with my own camera #10

Closed zhouleiqiang closed 2 years ago

zhouleiqiang commented 2 years ago

Hello, I read the README file you wrote, but I did not find a tutorial on how to run covins with my own camera. Can you teach me?

patriksc commented 2 years ago

Since COVINS uses ORB-SLAM3 as the VIO front-end, the instructions provided by the authors of ORB-SLAM3 might help: https://github.com/UZ-SLAMLab/ORB_SLAM3#4-running-orb-slam3-with-your-camera. However, note that they have just released a new version end of 2021, where they changed the calibration file format.

patriksc commented 2 years ago

Could you connect your own camera in the meantime? Basically, you need to

  1. calibrate your visual-inertial sensor system, so that you can generate a calibration file similar to orb_slam3/Examples/Monocular-Inertial/EuRoC.yaml. You can use e.g. kalibr for calibrating. Use the radtan distortion model. This document provided by the authors of ORB-SLAM3 might help as well (note that the parameter names align perfectly after their update to v1.0)
  2. Generate a launch file similar to launch_ros_euroc.launch that points to your calibration file and adjust the topics so that they fit your sensor system.
patriksc commented 2 years ago

Problem seems resolved for the moment - closing this issue.