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darglein / Snake-SLAM

MIT License
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Using Snake Slam with the Zed camera? #1

Open antithing opened 3 years ago

antithing commented 3 years ago

Hi, and thank you for making this code available. I would like to test running it live with the Stereolabs Zed 2 camera, would this be fairly straightforward to implement? Is there any reason why the code would not work with this input sensor? (Stereo frames + IMU).

Thanks!

darglein commented 3 years ago

Stereo + IMU should work out-of-the box. The implementation is done in two steps:

  1. Implement a Zed2Camera class which derives from CameraBase. You can take a look at the KinectAzure implementation as a reference: https://github.com/darglein/saiga/blob/750a343052734300874edaf1166bba395f434041/src/saiga/vision/camera/KinectAzure.h
  2. Integrate it into Snake-SLAM by creating a new sensor type and add it to Input.cpp https://github.com/darglein/Snake-SLAM/blob/master/Snake/Preprocess/Input.cpp
antithing commented 3 years ago

Thank you! i will take a look at this and see if i can get it implemented.