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marcusvaltonen / python-droneposelib

Python library for Visual-Inertial Odometry (VIO)
MIT License
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How to implement simple VIO project using IMU data and monocular camera frames? #7

Open algorithm99129 opened 2 months ago

algorithm99129 commented 2 months ago

Thank you for your effort.

This is really amazing.

Currently I am learning about VIO and want to implement simple project using python-droneposelib package. I already have recorded IMU dataset (Gyro and Accel) and monocular camera frames. And is there a way to implement VIO using these dataset?

Thank you again and looking forward to hearing from you soon.

marcusvaltonen commented 2 months ago

Hi,

Yes, it is possible. You will need to synchronize the IMU data with your monocular camera images. The IMU measurements need to be converted to rotation matrices w.r.t. the coordinate system used in the repo.

See the example script for an example of the input data: https://github.com/marcusvaltonen/python-droneposelib/blob/main/example/synthetic.py

algorithm99129 commented 2 months ago

Hi Marcus,

Thank you for your reply.

I am not sure how we feed camera frames and IMU data.

On Sun, Jul 7, 2024 at 10:15 AM Marcus Valtonen Örnhag < @.***> wrote:

Hi,

Yes, it is possible. You will need to synchronize the IMU data with your monocular camera images. The IMU measurements need to be converted to rotation matrices w.r.t. the coordinate system used in the repo.

See the example script for an example of the input data:

https://github.com/marcusvaltonen/python-droneposelib/blob/main/example/synthetic.py

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