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lukasvst / dm-vio

Source code for the paper DM-VIO: Delayed Marginalization Visual-Inertial Odometry
GNU General Public License v3.0
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Added live-version of DM-VIO for the OAK-D S2 camera #22

Open 0iui0 opened 2 years ago

0iui0 commented 2 years ago

Hi, this is a live-version of DM-VIO for the OAK-D S2camera according to your Realsense T265 version. Would you please review these changes I have proposed. thx

lukasvst commented 2 years ago

Hi, thanks a lot for this!

Before merging, it would need some polishing (saving the factory calibration, etc.) and it would probably make sense to have just one executable for all live versions (and dynamically select the device to use with a commandline argument).

The main problem however is that we do not have OAK-D cameras at our lab and I want to include only code I can test and support myself in the main repository for now. But we can leave the PR here as a guideline for others how to extend to more cameras, and I can later look at it again once I have more time.