How do I do OpenVINS without a dataset(rosbag file)?

[dirux0101]

I want to run OpenVINS directly in realtime using realsense D435 camera. How do I change the code? It's too difficult for me,,

[goldbattle]

First you would need to make a configuration file for that camera + IMU setup. https://docs.openvins.com/gs-calibration.html https://github.com/rpng/open_vins/tree/master/config

Then you would run the driver for the sensor, and launch the subscribe node which will subscribe to the live camera (see tutorial for more details if needed). https://docs.openvins.com/gs-tutorial.html

[dirux0101]

First you would need to make a configuration file for that camera + IMU setup. https://docs.openvins.com/gs-calibration.html https://github.com/rpng/open_vins/tree/master/config

Then you would run the driver for the sensor, and launch the subscribe node which will subscribe to the live camera (see tutorial for more details if needed). https://docs.openvins.com/gs-tutorial.html

Thank you for your answer. Can you be a little more specific? and Realsense D435 camera does not have a built-in IMU sensor. Can I just calibrate the camera?

[goldbattle]

We require an IMU sensor. You would need to provide another sensor for this. We use ROS, which you would need to use the realsense driver to publish images onto (along with whatever IMU you are using). http://wiki.ros.org/realsense2_camera

There is no way to directly connect to a camera unless you code / implement that yourself.

[dirux0101]

OK. Thank you so much. It helped a lot. I'll try that information you gave me!