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urbste / OpenImuCameraCalibrator

Camera calibration tool
GNU Affero General Public License v3.0
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can this tool use to Calibrate insta360 camera? #45

Open XUTONG1024 opened 3 months ago

urbste commented 2 months ago

At the moment, there is no real sperical camera model implemented in pytheiasfm: camera types. However, I might actually implement it soon, as I am also interested in calibration 360 cameras. As soon as this is done, we would just have to extend this part here: https://github.com/urbste/OpenImuCameraCalibrator/blob/a35d40ac3018a2d702badf0b8c87291855a7c14b/include/OpenCameraCalibrator/basalt_spline/ceres_calib_split_residuals.h#L366

XUTONG1024 commented 2 months ago

At the moment, there is no real sperical camera model implemented in pytheiasfm: camera types. However, I might actually implement it soon, as I am also interested in calibration 360 cameras. As soon as this is done, we would just have to extend this part here:

https://github.com/urbste/OpenImuCameraCalibrator/blob/a35d40ac3018a2d702badf0b8c87291855a7c14b/include/OpenCameraCalibrator/basalt_spline/ceres_calib_split_residuals.h#L366

Thank for your reply.I would like to know if Insta360 cameras can utilize their built-in IMU to implement some kind of VIO algorithm, similar to how you implemented ORB-SLAM3 with a GoPro. If you are also interested, I look forward to hearing about your future results.

urbste commented 2 months ago

I am pretty sure it is possible. You just have to find out how to extract the IMU data from the INSTA360. Is that possible? For GoPro it is fortunately pretty straightforward using the gpmf parser.

Richard-coder commented 2 months ago

@XUTONG1024 , Hello, I am also trying to run VIO using data from a panoramic camera. Would you be willing to share the software package for extracting IMU data from the insv file? I'm curious about how you handle timestamp alignment and unit conversion. I am quite familiar with VIO and am just starting to learn how to process insv data.

XUTONG1024 commented 2 months ago

@XUTONG1024 , Hello, I am also trying to run VIO using data from a panoramic camera. Would you be willing to share the software package for extracting IMU data from the insv file? I'm curious about how you handle timestamp alignment and unit conversion. I am quite familiar with VIO and am just starting to learn how to process insv data.

you have to apply for insta360 sdk in insta360 official website, i have not figure out how to align the timestamps between camera and imu, unit conversion is easy just g to 9.81.if you have any advance ,very glad to communicate with me. i am also doing this 360vio.