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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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Camera model support #62

Open NTK2411 opened 3 months ago

NTK2411 commented 3 months ago

Is there support for Double Sphere camera model. I couldn't find any such. If it is not present, are there any steps to include it.

WFram commented 3 months ago

DM-VIO doesn't support Double Sphere. But Basalt does. https://gitlab.com/VladyslavUsenko/basalt-headers/-/blob/master/include/basalt/camera/double_sphere_camera.hpp?ref_type=heads

Adding it to DM-VIO doesn't seem to be complicated. You can create a new class such as UndistortDS and inherit it from the Undistort class, like it's done for other models. Equations for distortCoordinates can be taken from the code, which I put the reference to above.