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engcang / vins-application

VINS-Fusion, VINS-Fisheye, OpenVINS, EnVIO, ROVIO, S-MSCKF, ORB-SLAM2, NVIDIA Elbrus application of different sets of cameras and imu on different board including desktop and Jetson boards
BSD 3-Clause "New" or "Revised" License
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Using with Intel RealSense T265 #5

Closed sumitsarkar1 closed 3 years ago

sumitsarkar1 commented 3 years ago

1.) Has any one used T265 with VINS Fusion 2.) Which is the convenient way calibrating T265 for VINS Fusion (like using Kalibr), if atall required.

engcang commented 3 years ago

1) Yes. look here: reference, which is only written in Chinese and even I do not understand what the author says.

2) But thanks to few English words, I found that he used Kalibr with omni-radtan models for T265 stereo fisheye cameras. and used it with MEI camera model in .yaml file.

3) Also, try this repo, VINS-Fisheye from the original authors of VINS-Fusion.

engcang commented 3 years ago

@sumitsarkar1
Hi. If you are still interested in operating VINS Fusion with T265, I tested it recently following the steps I mentioned above.

Here is the result clip: https://youtu.be/8w86LeB6fns

sumitsarkar1 commented 3 years ago

Great work !! can you share the yaml file and one more querry...does VINS-Fisheye allow map saving or can we do it through ROS. Sorry I am just a beginner in ROS !!

engcang commented 3 years ago

@sumitsarkar1 yaml files can be found at this repo's other branch (T265 branch): https://github.com/engcang/vins-application/tree/Intel-T265 Map saving is not supported in VINS-Fusion nor VINS-Fisheye as far as I know. Lots of works were made to save the map and reuse it within ORB-SLAM2 frame works, you have to check that.

sumitsarkar1 commented 3 years ago

Thnx for the infos....ya map saving is lots of work...I tried it once !!!...do you know any repo for ORB_SLAM2 which allows map saving ...and reloading it for localisation only

engcang commented 3 years ago

@sumitsarkar1 Check out my other repo: https://github.com/engcang/orb-slam2-modified check the mal_local branch, I forked the map saving ORB-SLAM2 there.