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berndpfrommer / basalt_ros1

ROS1 wrapper for basalt VIO
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Does BASALT work with stereo cameras like ZED2 ? #15

Closed Aishkrish18 closed 1 year ago

Aishkrish18 commented 1 year ago

Is basalt specific to only fisheye cameras or can it be used with stereo cameras? If yes where do i change the parameters after i Calibrate the cameras ?

berndpfrommer commented 1 year ago

Basalt can be used both with fisheye (equidistant projection) or regular lenses (radial-tangential distortion model). Please read the basalt source code on how to do this. You can find the relevant example config files in the "config" directory of this repo. Alas, this repo is for ROS1 and will no longer be supported going forward. I will mark it correspondingly.