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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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Dual stereo camera setup, non-overlapping #414

Closed ch-hms closed 7 months ago

ch-hms commented 8 months ago

Hi,

Thanks a lot for the truly amazing work.

I would like to run OpenVINS with a sensor rig made of 2 stereo cameras (Luxonis OAK D Pro W), one pointing forward and the other one pointing backward (so there is overlap between cameras of a given stereo pair, but not between stereo pairs). Both will be connected via USB-C so, to the best of my knowledge, precise hardware time-sync will not be possible. Is it possible to run OpenVINS on this setup with the current set of features? If so, would it be possible to have some indications? I found out about the previous issues and the 'stereo_pairs' parameter, but it seems like this was removed.

Thanks again,

Charles

goldbattle commented 8 months ago

If you are able to get accuracy calibration to the IMU for each camera, you should be able to run with the use_stereo set to false. It will just do monocular tracking of each camera in this case.

Genozen commented 7 months ago

Interesting topic! So if I have 4 sets of D435i individually calibrated and have them face North, South, East, West. Would OpenVins just take each monocular tracking from each camera?

goldbattle commented 7 months ago

Correct. There is small issue with you would need to implement this subscriber as we only support up to 2 multiple synchronized. If you want to do async cameras (with different time offsets per-camera and triggered asynchronously), then you might want to checkout MINS here: https://github.com/rpng/MINS